WO2025179236A1 - Humanoid robot with advanced kinematics - Google Patents

Humanoid robot with advanced kinematics

Info

Publication number
WO2025179236A1
WO2025179236A1 PCT/US2025/016930 US2025016930W WO2025179236A1 WO 2025179236 A1 WO2025179236 A1 WO 2025179236A1 US 2025016930 W US2025016930 W US 2025016930W WO 2025179236 A1 WO2025179236 A1 WO 2025179236A1
Authority
WO
WIPO (PCT)
Prior art keywords
actuator
axis
torso
arm
twist
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/US2025/016930
Other languages
French (fr)
Inventor
David Wright MCCALL
Jacob Daniel WEBB
Jose Domingo BRIONES BRAVO
Joseph Wood
Sarah HORTON
Victor Ragusila
Michael Stevens
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Figure AI Inc
Original Assignee
Figure AI Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Figure AI Inc filed Critical Figure AI Inc
Publication of WO2025179236A1 publication Critical patent/WO2025179236A1/en
Priority to US19/329,559 priority Critical patent/US12611766B2/en
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints

Definitions

  • the humanoid robot includes a torso, an arm actuator coupled to the torso and having an arm axis, a torso twist actuator coupled to the torso and configured to allow the torso to twist around a torso twist axis, and a knee actuator with a knee axis.
  • a neutral position (i) the torso twist axis and the knee axis reside in the same plane, and (ii) the arm axis is angularly offset from said plane.
  • the humanoid robot further includes an upper portion positioned above the torso twist axis and including at least 70% of the total degrees of freedom, and a lower portion positioned below the knee axis and including less than 10% of the total degrees of freedom. [0007] In yet another embodiment, a humanoid robot is provided.
  • the hip assembly includes a hip flex actuator with a hip flex axis, a hip pivot actuator coupled to the hip flex actuator and including a hip pivot axis, wherein the hip flex axis is oriented at an angle relative to the hip flex axis, and a leg twist actuator: (i) coupled to the hip pivot actuator, (ii) positioned below an extent of both of the hip flex actuator and hip pivot actuator, and (iii) includes a leg twist axis that is arranged coplanar with the hip flex axis.
  • a humanoid robot is provided.
  • the left arm of the robot may be designed with multiple actuators: an upper arm twist actuator with an upper arm twist axis capable of more than 250° of motion, an elbow actuator whose axis is substantially perpendicular to the upper arm twist axis and provides more than 150° of motion, and a lower arm twist actuator that is both colinear with the upper arm twist axis and perpendicular to the elbow axis, offering a range of motion in excess of 300°.
  • the left arm further comprises a wrist flex actuator and a wrist pitch actuator, both of the same actuator type, with their respective axes angled relative to one another.
  • the humanoid robot may includes a total number of degrees of freedom with an upper portion—positioned above the torso twist actuator—that accounts for at least 70% of the total, and a lower portion—positioned below a knee actuator—that comprises less than 10% of the total degrees of freedom.
  • the knee actuator includes a knee axis coplanar with the coronal plane and offers a range of motion greater than 150°.
  • the robot may be configured to incorporate less than 10 different actuator types, with each type identified based on its momentary peak torque rating or by the inclusion of distinct components.
  • the arm actuator may feature an actuator bearing whose center is positioned rearward of the robot’s coronal plane when in the neutral position.
  • the arm axis extends through this bearing and is angled relative to the coronal plane.
  • the left arm is coupled to the arm actuator and includes a left shoulder actuator with a shoulder axis that is not perpendicular to the arm axis in every plane.
  • the torso itself is constructed with an internal structure and external surface designed to house a majority of the left arm actuator within its external surface.
  • the humanoid robot may include an end effector coupled to a left arm that has at least three degrees of freedom.
  • the hip pivot actuator is not directly connected to the pelvis, while the leg twist actuator is positioned at a first distance from the support surface, with the hip pivot and hip flex actuators positioned at a second, greater distance.
  • the humanoid robot may have specific angular relationships for the arm actuators relative to the transverse, coronal, or sagittal planes, with arm axes configured at angles between 1° and 45°.
  • the left arm includes an upper arm twist actuator and a lower arm twist actuator that are colinear, while the elbow actuator is offset from the line connecting these twist axes.
  • the method includes defining at least one task to be performed by the humanoid robot, collecting motion data associated with a human performing the at least one task, generating a kinematic map of the motion data, creating a biomechanical model including joint kinematics based on the kinematic map, determining joint angles based on the biomechanical model to achieve the desired end-effector positions throughout the task using inverse kinematics algorithms, and defining the range of motion requirements for individual joints of the robot.
  • the humanoid robot may be designed with a comprehensive method for kinematic analysis.
  • FIG.1 is a schematic illustration of various embodiments of a robot that is configured to perform robot tasks at an operating location, where the illustrated tasks are examples of tasks to be performed by the robot;
  • FIG.2A is a perspective view of a robot of FIG.
  • FIG. 2J is a perspective view of the robot of FIG. 1 with the left and right arms extending medially across the torso in different positions; [0030] FIG.2K is a front view of the robot of FIG.2J; [0031] FIG.2L is a side view of the robot of FIG.2j; [0032] FIG.
  • FIG. 8A is a perspective schematic view of kinematic chains contained within the robot that were at least partially developed from the kinematic map shown in FIGS. 3-6, and wherein commonalities associated with each element of said kinematic chains are shown via the stippling associated with said elements;
  • FIG. 8B is a perspective schematic view of kinematic chains contained within the hand of the robot of FIG.1;
  • FIG.9 is a perspective view of an arrangement of actuator bearings that was generated from the kinematics chains of FIG. 8, wherein the axis of rotation of an individual actuator is centered within the actuator bearing and perpendicular to a plane defined by the actuator bearing; [0041] FIG.
  • FIG. 16 is a side view of the arrangement of actuator bearings contained within the robot and shown in FIG.9; [0049] FIG.17 is a side view of the robot of FIG.10 in an initial position; [0050] FIG.18 is a perspective view of the robot of FIG.10 in an initial position; [0051] FIG.19 is a zoomed in top view of the left shoulder of the robot of FIG.10, wherein the shoulder actuator couples the arm assembly to the torso; [0052] FIG.20 is a zoomed in side view of the left shoulder of the robot of FIG.10; [0053] FIG.21 shows the kinematic chains contained in the arm assembly and that are shown in FIG.8A; [0054] FIG.22A is a front view of actuators J8.1, J1, J2, J3 of the neck and left arm assembly of FIG.8A, showing the range of positioning angles for actuator J1; [0055] FIG.22B is a top view of actuators J8.1, J1, J2, J3 of FIG.22A,
  • FIG. 23 is a schematic of the movement limits of the left arm actuator (J1) and left shoulder actuator (J2); [0057] FIG. 24 is a top view of the actuator bearings contained in the left arm assembly of the robot of FIG.9, wherein said actuators include J1-J7; [0058] FIG.25 is a left side view of the actuator bearings of the actuators J1-J7 contained in the left arm assembly of the robot shown in FIGS.24; [0059] FIG. 26 is a frontal view of the actuator bearings of the actuators J1-J7 contained in the left arm assembly of FIG. 24, wherein said frontal view is modified to be normal to the bearing plane of actuator J2; [0060] FIG.
  • FIG. 27 is a cross-sectional view of the actuator bearings contained in the left arm assembly taken along line 27-27 in FIG.26;
  • FIG.28 is a top view of the actuator bearings of the actuators J1-J7 contained in the left arm assembly of FIG. 24, wherein said top view is modified to be tangent to the bearing plane of actuator J2;
  • FIG. 28 is a top view of the actuator bearings of the actuators J1-J7 contained in the left arm assembly of FIG. 24, wherein said top view is modified to be tangent to the bearing plane of actuator J2;
  • FIG. 29 is a cross-sectional view of the actuator bearings contained in the left arm assembly taken along line 29-29 in FIG.28;
  • FIG.30 is a top view of a of a portion of the robot of FIG.10 showing the torso and upper left arm assemblies, where the left arm actuator (J1) is rotated to a maximum position and other components of the robot are not shown;
  • FIG.31 is a front view of the torso and upper left arm assemblies of FIG.30;
  • FIG.32 is a top view of a portion of the robot of FIG.10 showing the torso and upper left arm assemblies, where the left arm actuator (J1) is rotated to a minimum position and other components of the robot are not shown;
  • FIG.33 is a front view of the torso and upper left arm assemblies of FIG.32;
  • FIG.34 is a top view of a portion of the robot of FIG.10 showing the torso and upper left arm assemblies, where the left shoulder actuator (J2) is rotated to
  • FIG. 38 is a front view of a second embodiment of an upper portion of the robot, which shows a kinematic map of the left arm of said robot;
  • FIG. 39 is a schematic of the movement limits of the left arm actuator (J1) and left shoulder actuator (J2) of the second embodiment of the robot shown in FIG.38;
  • FIG. 40 is a perspective view of the second embodiment of a kinematic chain of an upper portion of the robot and the associated singularity cone; [0074] FIG.
  • FIG. 45 a front view of the fourth embodiment of a kinematic change of an upper portion of the robot and the associated singularity cone;
  • FIG.46 is a perspective view of a fifth embodiment of a kinematic chain of an upper portion of the robot and the associated singularity cone;
  • FIG.47 a front view of the fifth embodiment of a kinematic chain of an upper portion of the robot and the associated singularity cone;
  • FIG.48 is a lower perspective view that zoomed in on the central portion of the first embodiment of the robot of FIG.1;
  • FIG.49 is a front view of the central portion of the robot of FIG.48;
  • FIG.50 is a side view of the central portion of the robot of FIG.48; [0084] FIG.
  • FIG.54B is a front view of actuators J8.1, J1, J2, J3 of FIG.54A, showing the range of positioning angles for actuator J11;
  • FIG.55 is a side view of the actuator bearings of the actuators J9-J14 and J16 of the left leg of the robot of FIG.12;
  • FIG. 56 is a schematic of the movement limits of the hip flex actuator (J11) and hip pivot actuator (J12) of the robot shown in FIGS.48-52; [0091] FIG.
  • FIG. 56 is a schematic of the movement limits of the hip flex actuator (J11) and hip pivot actuator (J12) of the robot shown in FIGS.48-52;
  • FIG. 57 is a schematic side view of the ranges of motion of the robot as said robot articulates its left leg between the positions shown in FIGS.58-61;
  • FIG.58 is a side view of the portion of the robot of FIG.52, and wherein the left leg is in a fully retracted posterior configuration;
  • FIG.59 is a front view of the portion of the robot of FIG.58;
  • FIG.60 is a side view of the portion of the robot of FIG.52, and wherein the left leg is in a fully extended anteriorly configuration;
  • FIG.61 is a front view of the portion of the robot of FIG.60; [0097] FIG.
  • FIG. 62 is a schematic front view of the ranges of motion of the robot as said robot articulates its left leg between the positions shown in FIGS.63-64;
  • FIG.63 is a front view of the portion of the robot of FIG.52, and wherein the left leg is fully extended medially and the right leg is fully extended laterally;
  • FIG.64 is a front view of the portion of the robot of FIG.52, and wherein the left leg is a fully extended lateral configuration;
  • FIG.65 is a front view of the portion of the robot of FIG.52, and wherein the left leg is in a fully rotated medial configuration;
  • FIG.66 is a front view of the portion of the robot of FIG.
  • FIG.70 is a bottom view of the portion of the robot of FIG.66;
  • FIG.71 is a front view of the portion of the robot of FIG.52, and wherein said robot’s torso is fully rotated to the right;
  • FIG.72 is a top view of the portion of the robot of FIG.71;
  • FIG.73 is a front view of the portion of the robot of FIG.52, and wherein said robot’s torso is fully rotated to the left;
  • FIG.74 is a top view of the portion of the robot of FIG.73;
  • FIG.75 is a side view of the portion of the robot of FIG.52, and wherein the torso of said robot is fully leaned to the right;
  • FIG.76 is a front view of the portion of the robot of FIG.75; [0112] FIG.
  • FIG. 81 is a side view of a lower portion of the second embodiment of the robot generated from the kinematic chains shown in FIGS.79-80; [0117] FIG.82 is a front perspective view of the lower portion of the robot of FIG.81; [0118] FIG.83 is a rear perspective view of the lower portion of the robot of FIG.81; [0119] FIG.84 is a perspective view of a schematic showing the kinematic chains contained within a third embodiment of a leg assembly of a robot; [0120] FIG.85 is a perspective view of a schematic showing the kinematic chains contained within a fourth embodiment of a leg assembly of a robot; [0121] FIG.86 is a perspective view of a schematic showing the kinematic chains contained within a fifth embodiment of a leg assembly of a robot; and [0122] FIG.87 is a perspective view of a schematic showing the kinematic chains contained within a sixth embodiment of a leg assembly of a robot; DETAILED DESCRIPTION [
  • one or more steps from the flow charts or components in the Figures may be selectively omitted and/or combined consistent with the disclosed methods and systems. Additionally, one or more steps from the flow charts or the method of assembling the shoulder and upper arm may be performed in a different order.
  • the drawings, flow charts and detailed descriptions are to be regarded as illustrative in nature, not restrictive or limiting. 1. Definitions [0125] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
  • the robot In this position, the robot is standing upright on a horizonal support surface and facing forward with its torso vertically aligned over its pelvis and legs, where the legs are substantially straight with the knees aligned under the hips and above the ankles, such that the robot’s weight is balanced over its feet.
  • the robot’s head In the neutral position, the robot’s head is facing forward, the arms are located at the sides of the robot, the hands are oriented with the palms facing inward, and the fingers pointing in a substantially downward direction toward the horizontal support surface.
  • Extended position a position of the robot with the arms extended outward laterally at the shoulder and oriented with the palms of the hands facing forward and the fingers pointing in a substantially outward direction, where the central and lower portions of the robot remain in a neutral position.
  • Sagittal plane a vertical plane that aids in defining the left and right sides of the robot.
  • the sagittal plane may: (i) divide the robot and/or the torso into equal left and right sections or halves, (ii) extend through the axis of rotation about which the torso twists or rotates relative to the pelvis and legs, (iii) contain the origin point of the robot, and/or (iv) be directly positioned between the left and right legs, and/or left and right arms.
  • the sagittal plane (P S ) is a vertical plane that contains the rotational axis A 10 of torso twist actuator (J10) located in the spine 60 of the robot 1 and divides the left and right sides of the robot 1, as indicated in at least FIGS. 11-13 and 49.
  • said axis of rotation for torso pitch may be bilateral colinear axes, a single centrally located axis, or an axis defined by a line connecting the center of the actuator bearings of two actuator that provide the torso pitch function.
  • the coronal plane (P C ) is a vertical plane that contains the rotational axes A 11 of the hip flex actuators (J11) located in the hips 70 and rotational axis A10 of torso twist actuator (J10) located in the spine 60 of the robot 1, as indicated in at least FIG.15, 16, and 52.
  • the coronal plane (P C ) is a plane that is coplanar with the rotational axis A 11 of the hip flex actuators (J11) and rotational axis A 10 of torso twist actuator (J10).
  • the coronal plane (PC) does not bisect the robot, or torso, into equal front and back halves, it is offset forward of a majority of the arm actuators in the extended position, and other positional relationships that can be understood from the figures.
  • Transverse plane a horizontal plane aids in defining the upper and lower portions of the robot.
  • the transverse plane may: (i) divide the robot into equal upper and lower sections or halves, (ii) extend through the axis of rotation about which the torso pitches forward or backward, as defined above, and/or (iii) extend through the widest part of the pelvis.
  • the transverse plane (P T ) is a horizontal plane that contains the rotational axes A 11 of the hip flex actuators (J11) located in the hips 70 of the robot 1, as indicated in at least FIGS.11-13 and 49.
  • transverse plane is positioned below both spine actuators (J9 and J10), in front of a majority of the arm actuators, and other positional relationships that can be understood from the figures.
  • Origin point the orthogonal intersection point of the sagittal plane, coronal plane, and transverse plane, all of which extend through humanoid robot disclosed herein..
  • Reference Axes consist of: (i) the Z-axis (vertical) is defined at the intersection of the sagittal plane and coronal plane, (ii) the Y-axis (horizontal) is defined at the intersection of the coronal plane and transverse plane; and (iii) the X-axis (depth) is defined at the intersection of the sagittal plane and transverse plane.
  • Kinematic chain a representation of an assembly of rigid bodies connected by joints to provide constrained motion. Within this application, the kinematic chain is illustrated by cylindrical bodies, where the central axis of the individual cylindrical bodies represent the position and orientation of the axis of rotation for the individual actuators.
  • each of the rotary actuators has a central rotational axis.
  • Other types of actuators may include linkages that provide rotational movement about one or more rotational axes via linkages or other means.
  • Range of motion a range of rotational motion of an actuator about an axis of rotation, where a first and second angle defines a rotational limit in opposing rotational directions from a neutral position expressed in degrees of rotation.
  • Degrees of Freedom DoF
  • Joint singularities geometric configurations of the robot's joints in which one or more degrees of freedom are effectively lost due to the alignment or overlap of rotational or translational axes.
  • Actuator bearing a specific component of the individual actuator assembly that is generally ring-shaped with parallel edge guides, wherein the rotational axis (A n ) of the actuator is centered within the actuator bearing and perpendicular to the parallel edge guides. Within this application, the actuator bearings of individual actuators are referenced to further define orientation of the rotational axes and/or relative size of the individual actuator.
  • Actuator bearing plane (Bn) a plane defined mid-width of actuator bearing between parallel edge guides and perpendicular to the rotational axis (A n ).
  • robots capable of performing unappealing and hazardous workplace tasks.
  • conventional robots may have limitations in their ability to operate effectively in human-centric environments. This creates a need for: (i) advanced robots capable of handling undesirable and hazardous tasks, or (ii) advanced robots capable of generating data that can be utilized to develop cutting-edge artificial intelligence models (e.g., LLMs, VLMs, VLAs, and/or BAMs) to enable these robots to operate autonomously in human-centric environments.
  • cutting-edge artificial intelligence models e.g., LLMs, VLMs, VLAs, and/or BAMs
  • These robots may include general-purpose humanoid robots specifically tailored for human-centric environments.
  • General-purpose humanoid robots may emulate the human form and functionality, featuring two legs, two arms, and a screen.
  • the data collected can be processed by an advanced computing architecture, residing in the networked environment, to further train the neural networks that enable the robot to perform its tasks (e.g., enabling it to walk more human-like, climb stairs, or traverse uneven terrain with fluidity and stability) or said data may be used to train other neural networks that are designed to control different robots.
  • the disclosed advanced robots may also address technical challenges related to dexterity and object manipulation.
  • the disclosed robots may include end effectors that feature multi- jointed designs with a high number of degrees of freedom, enabling complex and precise movements.
  • the robot may further include a cutting-edge computer vision system, which may be equipped with depth perception and object recognition capabilities.
  • a cutting-edge computer vision system which may be equipped with depth perception and object recognition capabilities.
  • the robot may learn from experience, improving its ability to grasp and manipulate a wide variety of objects over time.
  • Predictive algorithms may also enable the robot to anticipate the behavior of dynamic objects, such as catching a ball in mid-air or interacting with moving conveyor belts in industrial settings.
  • the robot may be capable of enhanced by the incorporation of human-robot interaction (HRI) capabilities with the robot.
  • HRI human-robot interaction
  • the robot 1 may feature a capability to avoid, or substantially avoid, geometric configurations of the robot's joints in which one or more degrees of freedom are effectively lost due to the alignment or overlap of rotational or translational axes – namely, joint singularities. These configurations can result in a reduction in the robot's ability to maneuver, exert force, or maintain precision during task execution. To mitigate these challenges, the robot’s pre- determined range of motion requirements may be carefully analyzed and selected.
  • the kinematic map is drawn with respect to a shifted origin point (O’) at the intersection of arm reference planes (P T ’, P C ’) and the sagittal plane (P S ) of the robot 1, where a selected radial distance is map as the robot arm 5 is moved through space.
  • reference line RS extends from the shifted origin point O’ through the center of the singularity S. This information helps define the degrees of freedom of the arm and location of the axes of rotation.
  • the location of the singularity (S) is positioned at a rearward angle alpha from the arm coronal plane (PC’).
  • the wide dark gray circles represent the best workable area
  • the mid-tone gray circles represent the workable area
  • the light gray circles represent areas that are workable, but are coming close to being undesirable
  • the narrow dark gray circles represent undesirable area
  • black area represents the singularity zone that should be avoided.
  • this example shows the singularity of the kinematic map when positioning of the upper arms, this same process may be utilized to determine joint location (e.g., rotational axis, orientation, and spacing) for other kinematic chains of the robot.
  • the motion of each leg may be considered to determine joint location for the hips.
  • robot can operate in a human- centric environment.
  • a high level kinematic configuration of the joints can be created based on the kinematic map.
  • the number of rotational axes and generalized positions can be included in a biomechanical model to define kinematic chains.
  • the joint angles can be determined based on the biomechanical model to achieve the desired end-effector positions using inverse kinematics algorithms or other means.
  • the designer may consider: (i) center of mass trajectory with and without the bin, which may involve calculating the zero-moment point (ZMP) trajectory, (ii) weight of the bin, its dimensions, and locations that the bin may need to be placed, (iii) energy efficiency, mechanical wear on specific joints, robustness of the movement to external perturbations, and/or aesthetic qualities of each movement strategy.
  • revised biomechanical model or in some embodiments, the biomechanical model, may be used in step 960 to determine the actuator bearing configuration for each actuator defining a joint can be determined based on the estimated forces exerted on the joints.
  • the robot tasks may include tidying up spaces, putting away groceries, cleaning, folding clothes, making beds, preparing meals, organizing closets, and/or setting tables.
  • the discussion herein will primarily focus on the first embodiment of the robot 1 (also shown as robot 1a in FIG. 1). However, it should be understood that most, if not all, of the following disclosure applies to other embodiments of robot, including alternative robots 1001, 2001, 3001, 4001, and 5001 disclosed herein.
  • FIGS. 10, 13, 14, 17, and 18 show a humanoid robot 1 comprising multiple systems, assemblies, components and/or parts.
  • the humanoid robot 1 includes 62 degrees of freedom (DoF).
  • the 62 degrees of freedom are distributed within the robot 1 as follows: (i) 48 degrees of freedom are contained in the upper portion 2 of the robot 1, (ii) 10 degrees of freedom are contained in the central portion 3 of the robot 1, and (iii) 4 degrees of freedom are contained in the lower portion 4 of the robot 1.
  • the 62 degrees of freedom are distributed within the robot 1 as follows: (i) 16 degrees of freedom are contained in each hand 56, (ii) 6 degrees of freedom are contained in each arm assembly 5, and (iv) 2 degrees of freedom are contained in each of the upper torso, spine/pelvis, and neck 10, 16, 60, 64.
  • the number and distribution of the degrees of freedom provide the robot 1 several significant advantages over conventional robots. For example, positioning 77% of the degrees of freedom in the upper portion 2 of said robot 1 allows it to perform complex, dexterous tasks that could not be performed without a substantial majority of the degrees of freedom being positioned in said upper portion.
  • minimizing the number of degrees of freedom in the central portion 3 allows the robot 1 to have a larger torso 16, which allows for the inclusion of a larger battery pack and additional computing power; thereby improving the performance and reliability of the robot 1.
  • including at least 5% of the degrees of freedom within the lower portion 4 of the robot 1 allows it to minimize the time and number of steps required for turning around, which allows the robot 1 to have more humanlike movements and increases the speed at which certain tasks can be accomplished.
  • the 62 degrees of freedom of the inventive robot 1 are provided by a combination of 42 electric rotary and linear actuators (J1-J16), wherein an overwhelming majority (e.g., over 95%) of the actuators are electric rotary actuators as compared to linear actuators.
  • the robot 1 only includes 2 linear actuators out of the 42 actuators contained in said robot 1.
  • a majority e.g., over 60%
  • linkages are coupled to: (i) 14 rotary actuators of said 40 rotary actuators, and (ii) all of the linear actuators.
  • the 42 electric rotary and linear actuators can be classified into seven primary types, wherein the different types of actuators can be identified by the different types of stippling in each of these Figures.
  • Five of the seven types have structures that are substantially similar, are assembled in a similar manner, and include a number of common components. These similarities and commonalities reduce the need for specialized parts, increase assembly speeds, minimize cost, and simplify debugging and documentation of the robot 1. As shown in these Figures and described in greater detail below, the seven types of actuators are not equally distributed within the robot 1. Instead, an unequal distribution is utilized throughout the robot 1.
  • the upper portion of the robot 1 includes 12 actuators of a first kind (type 7), 8 actuators of a second kind (type 3), and 6 actuators of a third kind (type 5).
  • first kind type 7
  • second kind type 3
  • 6 actuators of a third kind type 5
  • over 60% of the actuators in the robot 1 are actuator types 3, 5, 7, while under 40% of the actuators in the robot 1 are actuator types 1, 2, 4, 6.
  • the similarities and commonalities of the various actuators and their unequal distribution provides substantial benefits to the robot 1 over conventional robots that lack these features and configuration.
  • the robot 1 only uses electric actuators, whereby the robot 1 lacks manual, hydraulic or pneumatic actuators.
  • the use of only electric actuators (i) reduces assembly, maintenance, weight and cost, and (ii) increases durability and safety considerations related to operating the robot 1 within or around other humans.
  • An additional unique configuration of the disclosed robot 1 relates to the fact that the arm actuator 190 (J1), and specifically the arm axis A1 of the (J1) actuator, is positioned at an upward and rearward angle (e.g., more than 10 degrees) relative to the transverse plane PT and the coronal plane P C .
  • This configuration places the singularity of the robot’s arm in a location that is outside of normal use for the tasks that the robot 1 is tasked with performing, as shown by FIG. 2.
  • the arrangement of actuators contained within the central portion 3 of the robot 1 helps ensure that the leg of the robot 1 cannot be put in a singularity.
  • omitting an actuator that is dedicated to controlling the spine pitch or torso pitch reduces the number of actuators. Instead, the movement associated with pitching forward is controlled by the hips/legs of the robot 1. In other words, the robot 1 maintains the ability to bend forward or backward, but eliminates the need for including an actuator or multiple actuators to allow for the robot 1 to perform this movement. Moreover, several actuators are offset relative to one another to provide the robot 1 with the range of motions disclosed below.
  • the hip flex actuator (J11) 720 is directly coupled to the pelvis 64 of the robot 1 and it is positioned closer to both the: (i) torso lean actuator (J9) 680, and (ii) torso twist actuator (J10) 620, then all other actuators. Additionally, the hip pivot actuator 768 (J12) is not directly connected to the pelvis 64; instead, it is directly connected to the hip flex actuator (J11) 720.
  • the center of the actuator bearing 772.6 of the hip pivot actuator (J12) 768 is positioned below the center of the actuator bearings for each and every one of the following actuators: (i) the torso lean actuator (J9) 680, (ii) the torso twist actuator (J10) 620, and (iii) the hip flex actuator (J11) 720 (which also performs the spine Y, spine/torso pitch).
  • the hip pivot actuator (J12) 768 This positional arrangement is beneficial because it increases the range of motion for the hip pivot actuator (J12) 768, allowing robot 1 to bend further down (e.g., deep squat) than needed to engage an object resting on the floor or a low shelf.
  • the leg twist actuator (J13) 782 is positioned below all other actuators that perform hip or spine movements and is not directly coupled to the pelvis 64 of the robot 1.
  • the various actuators are purposely spatially located and arranged in the robot 1 to provide it with a humanoid configuration and enable it to perform humanlike movements.
  • the spacing between the actuators in the vertical direction enables said robot 1 to have a total or overall height that is less than 1700 mm, wherein the spacing between the actuators in the horizontal direction enables the robot 1 to have a wing span (as measured from fingertip to fingertip) that is greater than 1500 mm. Accordingly, the robot’s wing span (from fingertip to fingertip) is appreciably greater than the total height of robot 1.
  • This configuration allows the robot 1 to reach items on a high shelf or over an object to pick up another object.
  • the length of each arm, which extends between the outermost extents of the wrist actuators is less than 20% less than the length of each leg. a.
  • a high level configuration of the rotational axes associated indicates a positional relationship of the actuators within the robot 1 may be determined based on the kinematic map, biomechanical model and/or the revised biomechanical model, as illustrated in FIGS. 8, 11, and 15. These positional relationships of the rotational axes (An) at least partially define the kinematic chains. Further, the arrangement of the individual actuators contained in the robot 1 may be defined positionally by the actuator bearings, where the actuator bearing plane (B n ) is centered on the rotational axis (An) of the individual actuator (Jn).
  • the positions of the rotational axes (An) and/or actuator bearings may be defined positionally relative to one or more of the sagittal, coronal, or transverse planes (PS, PC, PT), when in the robot is in a static position (neutral or extended).
  • the high level configuration of a kinematic chain for each arm 5 includes seven rotational axes (A1-A7) from the torso 16 to the wrist 50 to providing seven DoF for the arm 5 to position the hand 56 of the robot 1, where A1 is located in the torso and A 2 -A 7 are in the arm 5.
  • Each hand further has sixteen DoF to further grasp or manipulate objects.
  • the high level configuration of a kinematic chain for each leg 6 includes six rotational axes (A11-A16) from the hip 60 to the foot 92 providing six DoF to position the foot 92.
  • the central rotational axes (A9-A11) provide three DoF to position the torso 16 with respect to the legs 6, where the pair of hip rotational axes (A 11 ) serve a dual purpose of rotating individual legs at the hip 60 and flexion/extension of the torso 16.
  • the head 10 includes rotational axes (A8.1, A8.2) for 2 DoF.
  • each hand 56 can have a plurality of rotational axes in each finger and thumb configured to grasp objects.
  • the high level configuration of the robot 1 includes a total number of DoF that is greater than 30, preferably more than 45, most preferably more than 55, and approximately 62.
  • the total number of DoF of said humanoid robot are distributed within the robot 1 as follows: ⁇ Upper Portion 2: 48 degrees of freedom (77% of the robot’s total DoF) o Head/Neck 10: 2 degrees of freedom (3% of the robot’s total DoF) o Upper Portion of the Torso 16: 2 degrees of freedom (3% of the robot’s total DoF) o
  • Each Upper Arm Assembly 24 2 degrees of freedom (3% of the robot’s total DoF) ⁇
  • Each Upper Humerus 30 1 degree of freedom (1% of the robot’s total DoF) ⁇
  • Each Lower Humerus/Elbow 36 1 degree of freedom (1% of the robot’s
  • positioning more than 65%, preferably more than 70%, most preferably more than 75%, and approximately 77% of the degrees of freedom in the upper portion 2 of said robot 1 may allow said robot 1 to perform dexterous tasks that could be challenging without a substantial majority of the degrees of freedom being positioned in said upper portion 2.
  • having a relatively small number of degrees of freedom within the central portion 3 may allow the robot 1 to have a larger torso volume.
  • including less than 15%, preferably less than 10%, and approximately only 6% of the degrees of freedom within the lower portion 4 of the robot 1 may help minimize torque placed on the knees and hips.
  • additional actuators, actuator bearings, and/or rotational axes may be added within the belly of the robot or in the hands.
  • said robot 1 may include fewer actuators, actuator bearings, and/or rotational axes.
  • the torso lean actuator (J9) 680, foot roll actuator (J16) 900, or an actuator located within the hand may be removed.
  • the number/location of degrees of freedom associated with the disclosed humanoid robot materially and substantially differ from the number/location of degrees of freedom for a non-humanoid robot. As such, the number/location of degrees of freedom with non-humanoid robot cannot be simply adopted or implemented into a humanoid robot without careful analysis and verification of the complex realities of designing, testing, and manufacturing a general purpose humanoid robot.
  • the actuators contained within the physical robot 1 include actuators (J1-J16) housed within components of the robot 1 to actuate movement of the components of said robot 1.
  • actuators J1-J16 housed within components of the robot 1 to actuate movement of the components of said robot 1.
  • J1-J16 housed within components of the robot 1 to actuate movement of the components of said robot 1.
  • the actuator bearing of individual actuators may help define the motion of the component or structure attached to the output driven by the individual actuators.
  • Mechanical stops integrated into the joint designs physically limit motion, preventing over-extension or collisions, and may be adjustable or replaceable to suit specific applications.
  • Software limits within the control system may dynamically restrict joint movements to predefined ranges, adapting in real-time based on the arm's configuration, task requirements, or environmental constraints. Said software limits may be determined using inverse kinematics algorithms to calculate allowable joint angles and velocities.
  • Sensor-based monitoring systems may also be used to continuously assess the systems, assemblies, components and/or part’s position, velocity, and applied forces using integrated load cells, encoders, and inertial sensors to detect anomalies or potential hazards. In response to unexpected loads, collisions, or joint limit violations, the control system can initiate emergency stop procedures or switch to a compliant mode to mitigate risk d.
  • a first type of actuator includes hip flex actuator (J11) and knee actuator (J14);
  • a second type of actuator includes torso lean actuator (J9), torso twist actuator (J10), hip pivot actuator (J12), and leg twist actuator (J13);
  • a third type of actuator includes arm actuator (J1), shoulder actuator (J2), upper arm twist actuator (J3), and elbow actuator (J4);
  • a fourth type of actuator includes the talus actuator (J16); and
  • a fifth type of actuator includes lower arm twist actuator (J5), wrist flex actuator (J6), and wrist pivot actuator (J7).
  • the actuator bearing size for each type is configured for a range of loads and configured to produce torque maneuver one or more components in a kinematic chain.
  • the modified fifth type of actuator (J8.1, J8.2) for the head 10 may have the same actuator bearing as the fifth type of actuator (J5-J7) for the lower arm, with different torque ratings and/or housing structures. While the housing of the individual actuator types may also vary, the assembly of each type of actuator is substantially similar.
  • a sixth type of actuator in the lower leg may be a linear actuator with a rotational axis (A 15 ) shifted to the ankle. In alternative embodiments, the sixth type of actuator in the lower leg may be a rotary actuator sized to match one of the common actuator types.
  • a seventh type of actuator may be used in the hands and configured to provide at least 16 DoF in each hand 56.
  • the placement and torque of the different types of actuators for robot 1 is outlined in the table below.
  • the various actuator types may be arranged differently within the alternative robot (e.g. J1 or J12 may be assigned a different actuator type) and/or different torque may be selected for the actuator types, while keeping the commonality of the actuators to reduce the number of unique parts.
  • These motors may employ rare-earth permanent magnets, such as neodymium-iron-boron (NdFeB) alloys, samarium-cobalt (SmCo) magnets, ferrite magnets, alnico magnets, flexible magnets, bonded rare-earth magnets, and high-temperature permanent magnets, to achieve high torque density and energy efficiency.
  • Permanent magnets such as neodymium-iron-boron (NdFeB) alloys, samarium-cobalt (SmCo) magnets, ferrite magnets, alnico magnets, flexible magnets, bonded rare-earth magnets, and high-temperature permanent magnets, to achieve high torque density and energy efficiency.
  • Motor windings may include high-conductivity copper wire with advanced ceramic or polyimide insulation for superior thermal and electrical performance.
  • the motors may be coupled with various high-reduction gear mechanisms designed for precision and load handling, such as strain wave gearboxes (e.g., Harmonic drives), cycloidal reducers, planetary gearboxes, bevel gear systems, worm gears, parallel shaft helical gear mechanisms, spur gear assemblies, crossed helical gear systems, double-enveloping worm gears, herringbone gears, hypoid gears, rack-and-pinion systems, bevel hypoid gears, epicyclic gear trains, and differential gear systems. Additionally, some implementations may incorporate custom gear profiles optimized for torque transfer efficiency, backlash reduction, and noise minimization.
  • strain wave gearboxes e.g., Harmonic drives
  • cycloidal reducers cycloidal reducers
  • planetary gearboxes planetary gearboxes
  • bevel gear systems e.g., worm gears
  • worm gears e.g., parallel shaft helical gear mechanisms
  • spur gear assemblies e.g., crossed helical gear systems
  • Examples of these alternative combinations include the arm actuator (J1) 190 or the shoulder actuator (J2) 280 utilizing a synchronous reluctance motor (SynRM) coupled with a compound planetary gearbox.
  • the wrist pivot actuator (J7) 520 might employ a coreless DC motor paired with a strain wave gearbox. This system could achieve reduction ratios in the range of 1:50 to 1:160, depending on the specific performance requirements.
  • a hybrid stepper motor combined with a cycloidal drive might be employed. This combination could achieve reduction ratios (1:30 to 1:87), offering a good compromise between speed and force.
  • a liquid-cooled axial flux permanent magnet motor could be paired with a multi-stage epicyclic gearbox.
  • This setup allows for high continuous torque output while achieving reduction ratios up to 1:500 or more through the cascaded planetary stages.
  • a series elastic actuator (SEA) configuration might be used. This could involve a standard brushless DC motor coupled with a ball screw mechanism and a torsional spring element. The effective reduction ratio of this system can vary based on the spring stiffness and ball screw pitch, potentially ranging from 1:10 to 1:100.
  • each motor may be equipped with advanced encoders, which could be optical, magnetic, capacitive, inductive, resistive, piezoelectric, hall-effect, potentiometric, or ultrasonic. These encoders may facilitate sub-millimeter-level accuracy, critical for applications requiring meticulous movement control.
  • said actuator may include integrated torque sensors that have strain gauges, piezoresistive sensors, magnetoelastic sensors, capacitive sensors, fiber-optic sensors, or rotary transformers. Additionally or alternatively, the actuators may include current sensors, such as Hall-effect sensors, shunt resistors, fluxgate sensors, Rogowski coils, or magnetoresistive sensors. Furthermore, the system may incorporate micro-electromechanical systems (MEMS) gyroscopes and/or accelerometers, which provide additional sensory data related to orientation, angular velocity, and linear acceleration. This sensory integration enhances the robot's ability to navigate complex environments and maintain stability during operation.
  • MEMS micro-electromechanical systems
  • the actuators or the output of the actuators may include bearing housings constructed using advanced materials like carbon-fiber-reinforced polymers (CFRPs), fiberglass-reinforced polymers (FRPs), metal alloys, polyetheretherketone (PEEK), thermoplastic composites, and ultra-high-molecular-weight polyethylene (UHMWPE). Additionally, the manufacturing processes for CFRPs, such as filament winding or automated fiber placement, allow for precise control over fiber orientation, further optimizing the mechanical performance of the housings.
  • CFRPs carbon-fiber-reinforced polymers
  • FRPs fiberglass-reinforced polymers
  • PEEK polyetheretherketone
  • UHMWPE ultra-high-molecular-weight polyethylene
  • the integration of smart sensors within the bearing housing is another potential enhancement, allowing for real-time monitoring of parameters such as temperature, vibration, and load. This data can be used to predict maintenance needs and prevent unexpected failures, ensuring optimal performance and reliability in critical applications.
  • Compound Movements [0185] As can be understood, the robot 1 with 62 DoF can be maneuvered into a multitude of positions by manipulating one or more kinematic chains of the robot 1. As discussed above, the robot 1 can utilize a plurality of movements to perform the same task.
  • a robot 1 tasked with picking up a bin from the ground could (i) bend the torso forward at the hips, (ii) bend at the knees to lower the position of the torso, or (iii) combine movements of the bending the torso forward and bending at the knees.
  • FIGS. 2A-2I show examples of three different bending positions that coordinate actuation of multiple actuators to position the robot to pick up the bin. Each example bending position may result in the robot holding the bin in a different manner, based on the position of the arms and hands, to lift the bin to another evaluation.
  • FIGS. 2A-2C show a first bending position example for picking up a bin from the ground.
  • the robot may start from a neutral standing position and bend the torso 16 at the hips 60 with a flexion pitch movement about axes A 11 of both the left and right hip flex actuators (J11).
  • the arms 5 can be positioned downward with movement about axis A1, or A1 and A2.
  • the entire arm 5 may be position downward by the arm actuators (J1), and the shoulder actuators (J2) can move the arms 5 laterally outward slightly to position the hands 5 at a distance to hold the bin.
  • the elbow actuator J4 and/or wrist actuators (J5-J7) can be utilized to further position the hands 56 to hold the bin.
  • FIGS. 2G-2I show a third bending position example for picking up a bin from the ground. This position is a combination of the first and second positions, where the robot 1 bends the torso 16 forward with a flexion pitch movement about axes A 11 of both the left and right hip flex actuators (J11) and also bend at the knees (J14) without moving to a full squatting position. Similar to the second bending position, the hip pivot actuators (J12) can rotate the legs 6 laterally on each side to allow clearance for the torso 16 to be positioned therebetween without interference.
  • FIGS. 2J-2L illustrate asymmetrical positions of the arms 5.
  • cross body positions are shown where the left arm is above the right arm.
  • the various actuators of the left arm are positioned differently than the right arm. 5.
  • the robot's torso 16 may function as a central hub, housing components such as the arm actuators (J1) 190, computing devices (e.g., processors, GPUs and/or CPUs), power supply/distribution, and various sensors.
  • the torso 16 may have a quasi-trapezoidal prism configuration, wherein the frontal extent of the torso 16 may be substantially smaller than the back extent of the torso 16 and the shrouds that extend between the frontal extent and back extent may be angled in relation to one another.
  • the torso 16 may include an open that is configured to receive a substantial majority of the arm actuators (J1) 190 within said torso 16.
  • a majority of the left arm actuator (J1) 190 is positioned within the external surface of the torso.
  • the mounting of the arm actuators (J1) 190 places the axis A1 of arm actuator (J1) 190 may be angled upward between 1 and 45 degrees (in some cases between 10 and 20 degrees) relative to the transverse plane P T and rearward between 1 and 45 degrees (in some cases between 10 and 20 degrees) relative to the coronal plane P C . This orientation may allow the arm to achieve a range of motion similar to human shoulder movements, which attempts to avoid placing the associated singularity of the arm assembly 5 in a heavily used area.
  • each arm actuator (J1) 190 may be connected to its respective arm assembly 5 via a specialized mechanical interface designed for durability and precision.
  • This interface may integrate various types of high-performance bearings including cross-roller bearings or any other bearing disclosed herein.
  • the coupling mechanism between the actuator output and the arm assembly 5 may utilize splined shafts, polygon couplings, Oldham couplings, bellows couplings, jaw couplings, universal joints, magnetic couplings, and flexure couplings, which provide high torque transmission efficiency and precise alignment.
  • damping elements such as elastomeric bushings, may be incorporated to absorb vibrations and reduce mechanical stresses.
  • the arm assembly 5 that is coupled to the arm actuator (J1) 190 may include: (i) the shoulder 26 having a shoulder actuator (J2) 280, (ii) an upper arm assembly 24 having an upper humerus 30 with an upper arm twist actuator (J3) 320, and a lower humerus 36 with an elbow actuator (J4) 374, (iii) a lower forearm 46 with a lower arm twist actuator (J5) 468 and a wrist flex actuator (J6) 484, and (iv) a wrist 50 with a pivot actuator (J7) 520.
  • the shoulder 26 forms the connection between the torso 16 and the upper arm assembly 24 and includes a shoulder housing 270.
  • the upper arm twist actuator (J3) 320 is positioned within the housing 302 and may utilize any motor, gearbox, sensors, bearings, encoders, and/or other components or parts that are discussed below in the actuator section.
  • the upper arm twist actuator (J3) 320 is coupled to an extent of the lower humerus 36, potentially through a keyed interface or splined shaft that ensures proper alignment and efficient torque transmission. This connection point may also incorporate compliance mechanisms such as elastomeric bushings to absorb sudden impacts or overloads.
  • the lower humerus 36 includes the elbow actuator (J4) 374 within a lower humerus housing 362 and couples the lower humerus 36 and upper forearm 40.
  • Said housing 362 may be designed with internal reinforcement structures, materials (e.g., metal alloys), cooling channels, heat sinks, and/or any material, structure, component, assembly, part, or described above.
  • the elbow actuator (J4) 374 is positioned within the housing 362 and may utilize any motor, gearbox, sensors, bearings, encoders, and/or other components or parts that are discussed below in the actuators sections that are optimized for elbow movements.
  • the elbow actuator (J4) 374 may be coupled to an extent of the upper forearm 40, and potentially through a keyed interface or splined shaft that ensures proper alignment and efficient torque transmission. This connection point may also incorporate compliance mechanisms such as elastomeric bushings or torsional springs to absorb sudden impacts or overloads.
  • the lower forearm 46 may be coupled to the upper forearm 40 and house two actuators that provide additional degrees of freedom for wrist 50 movements.
  • the lower arm twist actuator (J5) 468 may be positioned within the housing 462 of the lower forearm 46. This lower arm twist actuator (J5) 468 may enable pronation and supination movements of the wrist 50, which may be useful for tasks requiring reorientation of the hand 56.
  • the housing 462 may feature a design that mimics human arm contours while providing mounting points for external sensors or tools.
  • the robot 1 may also include a wrist flex actuator (J6) 484 that is contained within the lower forearm housing 462.
  • This actuator may be housed within the structure 502 of the wrist 50 and provides the last degree of freedom before the hand or end effector 56.
  • the wrist 50 may be coupled directly to an extent of the hand 56, and potentially through a quick-release mechanism that allows for the quick replacement of the hand or end effector 56.
  • the end effector 56 may include more than 3 DoF, preferably more than 7 DoF, and most preferably more than 12 DoF, and may have approximately 16 DoF. [0200]
  • the arrangement and orientation of these actuators within the arm assembly 5 may allow a wide range of motion while avoiding singularities and maximizing manipulability.
  • Variations of this design could include adjustable offsets using modular joints, incorporating telescopic mechanisms or angular adjustment modules that allow dynamic realignment of the axes during operation, and/or passive compliance mechanisms, such as elastomeric or spring-damper systems.
  • An apparent feature of this design is the alignment relationship between the actuator bearing plane B7 of wrist pivot actuator (J7) 520 and the actuator bearing plane B4 of elbow actuator (J4) 374. As shown in FIG.25, these planes are substantially aligned and may be co- planar, with axis A 4 of the elbow actuator (J4) 374 aligned with axis A 7 of actuator (J7) 520.
  • elbow actuator (J4) 374 and wrist pivot actuator (J7) 520 are such that if the actuator bearing of (J4) 374 were translated along the Y-axis by just over 225 mm, moved rearward along the X-axis by between 5 and 10 mm, and reduced in size by approximately 25%, it would occupy nearly the identical position as wrist pivot actuator (J7) 520.
  • This relationship may facilitate simplified control algorithms and more intuitive motion planning for complex arm movements.
  • the wrist flex actuator (J6) 484 introduces additional complexity and functionality to the wrist assembly.
  • actuator axes A 3 , A 5 , and A 7 along a common chord creates a unified kinematic chain through the arm.
  • Axis A3 and axis A5 are co-linear, providing a continuous rotational axis for arm twisting movements, while axis A7 is perpendicular to axis A 3 and axis A 5 , enabling wrist pivoting.
  • This configuration allows for smooth, coordinated movements that can seamlessly transition between different arm postures.
  • additional actuators or passive compliance mechanisms could be integrated along these axes to provide enhanced adaptability or energy efficiency during operation. For example, spring-loaded mechanisms or dampers could be used to minimize energy consumption during repetitive tasks.
  • the forward offset of axis A 4 from the common chord containing axes A3, A5, and A7 is a design element that enhances the arm's range of motion, particularly in flexion and extension movements. While axes A4 and A7 are parallel with one another, their non-alignment in the same Z-plane contributes to the arm's ability to achieve more human-like postures and movements.
  • This offset may be adjusted in alternative configurations to accommodate specific task requirements, such as increased reach or compact storage profiles. Additionally, automated adjustment mechanisms could be integrated to modify the offset dynamically during operation, optimizing the arm's performance in varying environments.
  • the alignment and positioning of these actuators and bearings may be achieved through advanced manufacturing techniques such as five-axis CNC machining and coordinate measuring machine (CMM) verification. Tight tolerances, potentially on the order of ⁇ 0.01 mm for mating surfaces, may be necessary to ensure proper function and longevity of the arm assembly 5. Advanced robotic assembly processes and real-time quality assurance systems could further optimize the alignment and integration of these components.
  • CMM coordinate measuring machine
  • the head and neck assembly 10 of the humanoid robot 1 may be designed to enhance its anthropomorphic characteristics while providing functional capabilities that support interaction, perception, and communication.
  • the head and neck assembly 10 may include one or more than one actuator.
  • the head and neck assembly 10 include two primary actuators: a head twist actuator (J8.1) 120, responsible for enabling rotational movement of the head about the vertical axis, and a head nod actuator (J8.2) 140, which adjusts the pitch of the head about the horizontal axis. Together, these actuators may provide two degrees of freedom (2 DoF) for the head, allowing it to perform movements that emulate human head motions.
  • the head twist actuator (J8.1) 120 may typically be located at the base of the neck, where it interfaces with the torso 16, while the head nod actuator (J8.2) 140 may be positioned within the head and enables forward and backward tilting of the head.
  • the head twist actuator (J8.1) 120 and a head nod actuator (J8.2) 140 may utilize any motor, gearbox, sensors, bearings, encoders, and/or other components or parts that are discussed below in the actuators sections that are optimized for these movements.
  • the head 10 itself may serve as a multifunctional platform that may house within an impact-resistant polymer shell a range of components, such as high-resolution cameras, microphones, and displays.
  • Cameras embedded within the head may include RGB, depth- sensing, or thermal imaging capabilities, enabling the robot to perform tasks such as object recognition, environmental mapping, and facial expression analysis.
  • Microphones may be arranged in the robot’s neck and include an array to facilitate directional audio input and noise cancellation, enhancing the robot’s ability to understand and respond to verbal commands.
  • Displays integrated into the head could serve as user interfaces, providing visual feedback or conveying expressions to improve communication and user engagement.
  • the head and neck assembly may be configured to support a variety of tasks, including directing the field of view of cameras embedded within the head 10.
  • the head actuators J8.1 and J8.2 may work in coordination to position the head accurately, enabling the robot to track objects, focus on specific areas, or maintain eye contact during human-robot interactions.
  • the head twist actuator (J8.1) 120 may rotate the head to follow a moving object, while the head nod actuator (J8.2) 140 adjusts the pitch to maintain an optimal viewing angle.
  • the head and neck assembly 10 may not be intended to contact or manipulate objects directly, it may play an important role in enhancing the robot’s interaction capabilities.
  • the head actuators J8.1 and J8.2 may be arranged with the head twist actuator (J8.1) 120 positioned within the head and the head nod actuator (J8.2) 140 located in a lower position within the neck.
  • Variations of this design could include the addition of a third actuator to provide roll motion, further increasing the head's range of movement to 3 DoF, which could enable more expressive head gestures, such as tilting the head sideways to convey curiosity or empathy.
  • the actuators could be replaced with compact linear actuators or parallel-link mechanisms for specialized applications requiring higher precision or load capacity.
  • variations could include modular head designs that allow for quick customization or replacement of components.
  • Robot Central Region and Leg Assembly [0216]
  • the arrangement of actuators (J9-J13) 620, 680, 720, 768, 782 in the central portion 3 of the robot 1 may represent a biomechanical design that optimizes functionality, stability, and energy efficiency.
  • central portion actuators J9-J13 are similar to, but higher torque than, the actuators that are included within the arm assemblies 5. Also, similar to the arm assemblies 5, the central portion 3 may be constructed from advanced materials to enhance mechanical properties, reduce weight, and improve durability.
  • the torso lean actuator (J9) 680 may be positioned within the housing 642 of the pelvis 64, providing a stable base for torso movements. This positioning may allow for efficient force transmission and load distribution throughout the robot's structure.
  • the output of torso lean actuator (J9) 680 may be coupled to an extent of the spine 60, enabling precise control of the robot's lean or roll motion.
  • the torso twist actuator (J10) 620 may be located within the robot's waist/spine 70, at a junction between the upper and lower body.
  • the output adaptor of torso twist actuator (J10) 620 may interface directly with an extent of the pelvis 64, facilitating rotational movement of the torso 16 relative to the lower body.
  • the waist/spine 70 itself may be coupled to a lower extent of the torso 16, creating a continuous kinematic chain from the pelvis 64 to the upper body.
  • the spatial arrangement of the torso lean actuator (J9) 680 and the torso twist actuator (J10) 620 may be engineered to maximize the robot's range of motion while maintaining structural integrity.
  • leg twist actuator (J13) 782 may be positioned near hip pivot actuator (J12) 768 within the hip housing 762 and its output adaptor 790 may be coupled to an extent of the lower thigh 80.
  • Leg twist actuator (J13) 782 provides the robot 1 with the leg yaw or leg twist and its axis A13 may be parallel with axis A10 of torso twist actuator (J10) 620 and may be positioned perpendicular to axis A 11 of the hip flex actuator (J11) 720. This placement allows axes A 10 , A 11 , A 13 to be positioned in a single vertical plane or a plane parallel with the coronal plane PC.
  • a vertical plane containing axis A12 is perpendicular to a horizontal plane containing axis A 11 , where axis A 11 represents the axis of another actuator, potentially the hip flex actuator (J11) 720 or leg twist actuator (J13) 782.
  • hip flex actuator (J11) 720 which provides hip/leg pitch
  • hip pivot actuator (J12) 768 which provides hip/leg roll
  • alternative configurations could involve non-perpendicular alignments between these planes to introduce controlled coupling effects, enabling coordinated motions for complex tasks such as twisting while pitching.
  • Another variation might include integrating a secondary, adjustable joint along axis A12 to allow dynamic modulation of its spatial orientation relative to A11, offering greater adaptability for varied terrains or task-specific requirements.
  • a knee actuator (J14) 820 may be housed in the lower thigh 80 and provides bending motion to the leg. Unlike other conventional robots, the knee actuator (J14) 820 may not be a linear actuator and may not be driven by a linkage.
  • the leg assemblies 6 may incorporate passive dynamic elements. For instance, spring-loaded mechanisms in the ankle or knee joints may store and release energy during the gait cycle, potentially improving efficiency and providing a more natural walking motion. These passive elements may work in conjunction with the active actuators to create a hybrid system that combines the benefits of both active control and passive dynamics.
  • the leg assemblies 6 may include active cooling systems to manage heat generated by the actuators during prolonged or high- intensity operations. This may involve the integration of heat sinks, fluid cooling channels, or thermoelectric devices to dissipate heat efficiently and maintain optimal operating temperatures for the electronic and mechanical components.
  • the control system for the robot's central region and leg assemblies 6 employs algorithms to coordinate the actions of multiple actuators, ensuring precise and efficient movement. These algorithms dynamically account for factors such as the robot's 1 posture, intended motion, and environmental conditions to determine optimal actuation patterns. For instance, when climbing stairs, the system adjusts the timing and force of actuator engagements to lift the leg and place the foot 92 accurately on each step. Incorporating machine learning techniques, such as reinforcement learning and evolutionary algorithms, the control system adapts over time by analyzing data from repeated movements and interactions with various environments. This adaptive capability enhances efficiency, stability, and natural movement, enabling the robot 1 to tackle increasingly complex locomotion tasks.
  • prediction algorithms leverage data from visual sensors, inertial measurements, and historical movement patterns to anticipate terrain changes or obstacles, allowing preemptive gait adjustments for smoother and more efficient navigation across varied surfaces.
  • the system integrates seamlessly with the robot's overall balance and posture control, continuously adjusting actuator outputs to maintain stability during dynamic movements and external perturbations.
  • leg 6 motions By coordinating leg 6 motions with upper body actions, such as arm movements and torso 16 adjustments, the control system achieves whole-body balance and advanced locomotion strategies tailored to the robot's unique physical configuration and operational environments.
  • the robot 1 may also be equipped with an extensive suite of sensors and actuators that operate in unison to achieve human-like mobility and dexterity.
  • the robot's motion planning system may employ algorithms, such as model predictive control (MPC), deep neural networks (DNNs), convolutional neural networks (CNNs), recurrent neural networks (RNNs), transfer learning, and genetic algorithms. These algorithms may process sensory inputs and generate smooth, coordinated movements that replicate natural human motion, incorporating predictive adjustments for complex, multi- task scenarios.
  • MPC model predictive control
  • DNNs deep neural networks
  • CNNs convolutional neural networks
  • RNNs recurrent neural networks
  • transfer learning and genetic algorithms.
  • These algorithms may process sensory inputs and generate smooth, coordinated movements that replicate natural human motion, incorporating predictive adjustments for complex, multi- task scenarios.
  • the arm actuator (J1) 194 has a range of motion that is between 180 degrees and 270 degrees and preferably between 210 degrees and 240 degrees. This corresponds to an angle between 72 degrees forward from the coronal plane to 162 degrees rearward from the coronal plane.
  • FIGS.30-33 illustrate the range of motion of the left arm actuator (J1) for positioning the arm assembly 5, where the other actuators (J2-J7) in the arm assembly 5 do not apply any torque.
  • the left arm actuator (J1) 190 to rotate to a first limit state (SJ1min)
  • the output of said actuator rotates the left arm 5 counterclockwise with respect to the torso 16, causing the arm assembly 5 to rotate and be angled posteriorly.
  • the left arm is angled with respect to the coronal plane (PC) when in the first limit state (SJ1min).
  • the output of said actuator J1 rotates the left arm 5 clockwise with respect to the torso 16, causing the arm assembly 5 to rotate and be angled upward.
  • the left arm is angled with respect to the transverse plane (PT) and coronal plane (PC) when in the second limit state (SJ1max).
  • the range of motion of the left shoulder actuator (J2) is illustrated, where the left arm actuator (J1) remains in a neutral initial position and the other actuators (J3- J7) in the arm assembly 5 do not apply any torque.
  • the left shoulder actuator (J2) 260 By causing the left shoulder actuator (J2) 260 to rotate in the opposite direction to a second limit or outward positive max state (S J2max ), the output of said actuator rotates the left arm 5 counterclockwise with respect to the torso 16, causing the arm assembly 5 to rotate and be angled upward. As shown in FIGS.36-37, the left arm is angled with respect to the transverse plane (PT) and coronal plane (PC) when in the second limit state (S J2max ). [0247] Referring to FIG. 23, the above information is shown in a pictorial format. In particular, point 1 represents the forward – negative limit – for J1 (SJ1min) at an angle that is between -115 and -155 degrees.
  • Point 2 represents the backward – positive limit – for J1 (SJ1max) at an angle that is between 60 and 110 degrees.
  • Point 3 represents the outward – positive limit – for J2 (S J2max ) at an angle that is between 25 and 65 degrees.
  • Point 4 represents the position of the torso’s outmost edge of the torso 16, while point 5 represents the clearance area needed around the robot’s head 10.
  • the arm actuator J1 is capable of reaching its positive and negative limits, there are some combinations of movements with the shoulder actuator J2 that are limited by the physical structure of the robot. It should be understood that the arm’s range of motion is also disclosed in FIGS.3-6, and related description.
  • the hip flex actuator (J11), the hip pivot actuator (J12), and the leg twist actuator (J13) respectively provide the leg with axes of rotation A 11 , A12, A13 for Y-axis (pitch), X-axis (roll), and Z-axis (yaw or twist) at the hip and upper leg.
  • the leg twist actuators (J13) are located below the hip flex actuator (J11) and the hip pivot actuator (J12) and provide yaw motion for the legs 6.
  • the hip pivot actuators (J12) are located below the hip flex actuators (J11) and provide roll motion for the legs 6.
  • the hip flex actuators (J11) provide pitch motion for the legs 6 and they are located above the hip pivot actuators (J12) and the leg twist actuators (J13).
  • the hip pivot actuator (J12) is identified as providing roll motion about the X-axis, it should be noted that the axis of rotation A 12 of the hip pivot actuator (J12) is not parallel to the X-axis or orthogonal to axes A 11 , A 13 .
  • the axis of rotation A12 of the hip pivot actuator (J12) is angled with respect to the transverse plane PT by angle gamma, as shown in FIGS.50 and 52. [0250]
  • the left and right legs 6 are interchangeable, further reducing the number of unique parts.
  • the kinematic chain for each leg 6 is shown in FIG. 53.
  • This hip assembly design having the Y-axis hip flex actuator (J11), a middle X-axis hip pivot actuator (J12), and a lower Z-axis leg twist actuator (J13) can offer benefits.
  • having the hip flex actuator (J11) in the robot’s pelvic structure can be beneficial because this can be the actuator that is most used for the forward walking movements of the robot 1.
  • the inertia of the pitch movements of the leg can be increased because the mass of both the hip pivot actuator (J12), and the leg twist actuator (J13) both move when the robot 1 walks.
  • the hip flex actuator (J11) 720 controls the movement of the respective leg 6 from forward and backward, i.e., leg pitch movement.
  • FIG. 57 is a schematic side view of range of pitch motion of the robot of FIG.51.
  • a leg reference axis R J11 is the vertical axis that intersects axis A 11 of the hip flex actuator (J11) and axis A 14 of the knee actuator (J14), among others, when the robot 1 is in the neutral position.
  • the leg reference axis RJ11-min can represent a first J11 limit or a maximum posterior retraction or flexion of the robot leg using the hip flex actuator (J11).
  • the distance between the origin O and the center of the left knee actuator J14 at the intersection of the rotational axis A14 and the leg reference plane (PS-J12) is shown as reference line RO-ka.
  • the angle theta-19 ( ⁇ 19) represents the angle of reference line R O-ka with respect to the leg reference plane (P S-J12 ), in a front view.
  • the reference line R O-ka in the front viewing plane is shortened and the angle theta-23 ( ⁇ 23) represents the angle of reference line RO-ka with respect the leg reference plane (PS-J12), in a front view, and angle theta-24 ( ⁇ 24) represents the angle of reference line R O-ka with respect the coronal plane (P C ).
  • the hip flex actuator (J11) can allow the robot to move its leg: (i) backwards between about 5 degrees and about 55 degrees, preferably between about 25 and about 45 degrees, and most preferably between about 30 and about 40 degrees, and (ii) forward between about 25 and about 210 degrees, preferably between about 80 and about 190 degrees, and most preferably between about 145 and about 175 degrees.
  • the hip flex actuator (J11) can move the leg backward at least about 5 degrees, preferably at least about 25 degrees, and most preferably at least about 30 degrees.
  • the hip flex actuator (J11) can move the leg backward at least about 25 degrees, preferably at least about 80 degrees, and most preferably at least about 145 degrees.
  • the hip flex actuator (J11) can have a range of motion that is at least about 30 degrees, preferably at least about 105 degrees, and most preferably at least about 175 degrees. In some embodiments, the hip flex actuator (J11) can have a range of motion that is approximately 200 degrees.
  • FIGS. 58 and 59 show the leg in a rearmost position, i.e., a maximum rearward movement of the hip flex actuator (J11) that can substantially avoid interference with other components of the robot 1 while the torso twist actuator (J10) is fully rotated in one direction and the torso lean actuator (J9) is leaning fully to the one direction.
  • the torso lean actuator (J9) can be placed at the maximum lean and the hip flex actuator (J11) can be placed at a maximum rearward position.
  • the components of the body will not contact each other, which is due in part to the design of the hip, pelvis, and waist bucket of the torso.
  • Potential interference might only occur if the torso 16 were then twisted fully using torso twist actuator (J10) from this position but, as noted above, this is a rare configuration that is not typically desired.
  • the hip flex actuator (J11) when the hip flex actuator (J11) is moved to a maximum forward position (e.g., about 160 degrees relative to the coronal plane P C ), it can place the knee right next to the chest of the torso 16. In this configuration, however, the leg can contact the torso 16 and be stopped prior to achieving the maximum forward extension of the hip flex actuator (J11).
  • the hip pivot actuator (J12) when the hip flex actuator (J11) is moved to the maximum forward position, the hip pivot actuator (J12) can move the leg slightly to the side or laterally outwards (e.g., about 20 degrees in one embodiment). In other words, the leg 6 can be angled outward relative to the sagittal plane PS.
  • the leg 6 can be designed to clear the torso 16 in the maximum forward position, when the hip pivot actuator (J12) is rotated less than 40 degrees, preferably less than 30 degrees, and most preferably less than 25 degrees from being parallel with the sagittal plane P S .
  • said rotation of the hip pivot actuator J12 can be positioned between 5 degrees and 40 degrees, preferably be between 10 degrees and 30 degrees, and most preferably between 25 degrees and 30 degrees from being parallel with sagittal plane P S in order to minimize the amount of rotation needed from the hip pivot actuator (J12) while allowing for the leg 6 to be fully forward and clear the torso 16 without interference.
  • the hip pivot actuator (J12) 768 controls movement of the respective leg 6 from side to side, i.e., leg roll movement.
  • FIGS.62-64 illustrate the robot 1 of FIG.51 in various medial and lateral movement positions to illustrate the range of motion of the hip pivot actuator (J12) 768.
  • the hip flex actuator (J11) remains in a neutral initial position and the other leg actuators (J13-J16) in the leg assembly 6 do not apply any torque.
  • a leg reference axis R J12 is defined as a vertical axis extending downward from an origin point OJ12 at the intersection of the axis of rotation A12 and the actuator bearing plane B12 of the hip pivot actuator (J12).
  • the lateral movement of said leg reference axis RJ12 is illustrated with respect to a leg reference plane (PS-J12) that is parallel to the sagittal plane (P S ) and includes the axis of rotation A 12 of the hip pivot actuator (J12) in the neutral position.
  • FIG.64 shows a front view of the robot of FIG.51 in a position where its left leg (i.e., thigh 76a) is at a maximum about 45 degrees of laterally outward roll (i.e., angle ⁇ J12-max ) using the hip roll actuator J12 while its right leg (i.e., thigh 76b) remains in a neutral position (i.e., no roll relative to leg reference plane PS-J12).
  • the robot can be capable of achieving any other degree of medial or lateral roll between these illustrated example positions.
  • These movements are also illustrated schematically in FIG. 62, assume a front view and are shown with respect to the neutral position of the robot 1. As shown in FIG.
  • the left leg 6a can be rotated about axis A 12 , in the opposite direction, extending outward laterally to a second limit state or maximum outward lateral state (SJ12max) is shown by RJ12-max and is at an angle beta-J12-max ( ⁇ J12-max).
  • the angle beta-J12-max ( ⁇ J12-max) can be about 45 degrees relative to the leg reference plane (PS-J12).
  • the right leg 6b has the same range of motion mirrored over the sagittal plane P S , as shown in FIG.63.
  • the robot 1 can be configured to achieve different degrees of rotation and different ranges of motion, all of which are contemplated to be within the scope of the present disclosure.
  • the distance between the origin O and the center of the left knee actuator J14 at the intersection of the rotational axis A 14 and the leg reference plane (PS-J12) is shown as reference line RO-ka.
  • the angle theta-32 represents the angle of reference line RO-ka with respect to the sagittal plane (PS), in a front view, when in the leg is in the maximum medially inward roll.
  • the angle theta-37 represents the angle of reference line R O-ka with respect to the sagittal plane (P S ), in a front view, for the maximum latterly outward position.
  • said robot can turn around and start walking in the other direction by only taking two (and sometimes one) steps. This represents a significant advantage over many prior designs that can require many steps to reverse direction.
  • the configuration of the leg and its associated actuators i.e., actuators J11, J12, and J13
  • actuators J11, J12, and J13 also ensures that said leg cannot be placed in a singularity (where two or more actuator axes of rotation are parallel with one another). This is because the hip pivot actuator (J12) cannot be rotated outward by 90 degrees, which would be required in order to place the axis A11 of the hip flex actuator (J11) parallel with the axis A13 of the leg twist actuator (J13).
  • FIGS. 65-66 illustrate the robot of FIG. 51 the range of motion for leg yaw, where only J13 is rotated and the other leg actuators (J11-J12 and J14-J16) do not apply torque.
  • the right leg is in a neutral position and the left leg is oriented twisted medially inward by about 90 degrees using the leg twist actuator (J13).
  • the leg twist actuator J13
  • FIG.67 shows a bottom view of the robot of FIG.51 in a position where its lower left leg (i.e., foot 92a) is twisted medially inward by about 45 degrees using the leg twist actuator (J13) and its right leg (i.e., foot 92b) is in a neutral (i.e., forward facing) position.
  • FIG.68 shows a bottom view of the robot of FIG.51 in a position where its lower left leg (i.e., foot 92a) is twisted medially inward by about 90 degrees using the leg twist actuator (J13) and its right leg (i.e., foot 92b) is in a neutral (i.e., forward facing) position.
  • FIG.69 shows a bottom view of the robot 1 of FIG. 51 in a position where its lower left leg (i.e., foot 92a) is twisted laterally outward by about 45 degrees using the leg twist actuator (J13) and its right leg (i.e., foot 92b) is in a neutral (i.e., forward facing) position.
  • FIG.69 shows a bottom view of the robot 1 of FIG. 51 in a position where its lower left leg (i.e., foot 92a) is twisted laterally outward by about 45 degrees using the leg twist actuator (J13) and its right leg (i.e., foot 92b) is in a neutral (
  • FIG. 70 shows a bottom view of the robot 1 of FIG.51 in a position where its lower left leg (i.e., foot 92a) is twisted laterally outward by about 90 degrees using the leg twist actuator (J13) and its right leg (i.e., foot 92b) is in a neutral (i.e., forward facing) position.
  • the robot 1 can be capable of achieving any other degree of medial or lateral yaw between these illustrated example positions.
  • FIGS. 71-78 illustrate various movements of the spine, i.e., movements of the torso 16 relative to the pelvis 64. As shown in the figures, the robot 1 does not bend forward at its belly.
  • the robot 1 utilizes the hip flex actuators (J11) of the legs 6.
  • the robot can bend the torso 16 forward at the hip flex actuators (J11) to reach downward.
  • the use of the robot’s legs to perform this forward motion reduces the need for additional actuators (e.g., in some embodiments the two hip flex actuators J11 can do the work of four actuators in prior robots) and beneficially places the loads on the hip flex actuators (J11) for lifting objects off the ground.
  • the size/torque associated with the hip flex actuators (J11) can be adjusted to account for this functional movement.
  • FIGS. 71-74 illustrate the robot of FIG. 51 in various example positions of spine or torso yaw or twist relative to the pelvis 64. This feature helps the robot 1 be able to reach and grab objects that are positioned to its sides.
  • said robot 1 can have a twisting range of motion associated with the torso twist actuator (J10) that is more than about 45 degrees, preferably more than about 120 degrees, and most preferably more than about 170 degrees.
  • the torso twist actuator (J10) can have a range of motion of about 180 degrees, i.e., about 90 degrees in either direction from the forward facing, neutral position.
  • FIGS.71 and 72 show front and top views of the robot of FIG.51 in a position where its torso 16 is twisted to its right by about 90 degrees from the neutral position using the torso twist actuator (J10).
  • the robot 1 can be capable of achieving any other degree of torso lean or spine roll between these illustrated example positions.
  • the actuators contained in the robot 1 are spaced apart from one another and provide said robot 1 to have a humanoid configuration. While this configuration is not limiting, it can be generally seen that the disclosed robot 1 has the following features. For example, the arm span that extends from fingertip on a first hand to the opposed fingertip on the second hand is greater than the actuator height that extends from the foot roll actuator (J16) 900 to the upper most head actuator.
  • each arm which extends between the outermost extents of the wrist actuators (J7) is less than 20% less than the length of each leg 6, which extends from the center point on the hip actuator (J11) 720 to the bottom of the foot roll actuator (J16) 900.
  • the center hip distance that extends from the center point on a hip flex actuator (J11) 720 to the center point on an opposed hip flex actuator (J11) 720 is 30% less than the distance between the center point on a shoulder actuator (J2) 280 to the center point on an opposed shoulder actuator (J2) 280.
  • Other ratios, calculations, or information can be gathered from the figures in connection with the tables included herein.
  • a third embodiment of robot 2001 is substantially similar to the first embodiment robot 1, and shown in an extended position in FIGS.42-43.
  • the schematic diagram shows the kinematic chain and arrangement of arm actuator (J1) 2190, shoulder actuator (J2) 2280, and upper arm twist actuator (J3) 2320, where the singularity cones surround the primary axis of the arm actuator (J1).
  • the axis of arm actuator (J1) is substantially parallel to transverse plane P T and positioned at a rearward angle with respect to the coronal plane P C .
  • the hip roll actuators J12 ⁇ of the humanoid robot 1001 lie in a horizontal plane, in comparison to the robot of FIGS.51- 52 having angled-down axes of hip roll actuators J12.
  • FIG. 81 illustrates a side view of the torso, shoulders, head, hips, and left leg of an embodiment of a humanoid robot.
  • FIG. 82 illustrates a side front perspective view of the hip and left leg, and
  • FIG. 83 illustrates a side rear perspective view of the hip and left leg.
  • the actuators of the robot can be concealed with covers that can prevent objects from interfering with the operation of the actuators. Adjacent covers can have movement seams that can allow the rotational actuators to move without exposing any of the internal components.
  • FIGS.79-80 illustrate the second embodiment of a humanoid robot 1001 having a hip assembly that includes a hip frame coupled to left and right X-axis (roll), Y-axis (pitch), and Z-axis (yaw) rotational hip actuators.
  • Y-axis hip actuators can be coupled to the left and right sides of the hip frame
  • X-axis hip actuators can be coupled to a lower back portion of the Y-axis hip actuators.
  • the hip assembly rotation actuators can include a Y-axis hip pitch actuator J11, an X-axis hip roll actuator, and a Z-axis hip yaw actuator to provide the range of motion for the leg.
  • the variations in positions of the three hip actuators are shown as kinematic chains in the figures.
  • the function of each actuator is based on the axial orientation and the relative location in the kinematic chain.
  • Table 6 identifies the function and/or orientation of the alternative rotational axis compared to the first embodiment of robot 1.
  • the alternative configurations of rotational actuators in the hip assembly can include: Table 6 Hip Joint y Robo Robot 2001 Robot 3001 Robot 4001 Robot 5001 Assembl t 1 (FIG.84) (FIG.85) (FIG.86) (FIG.87) Upper Y-axis Pitch Y-axis Pitch X-axis Roll Z-axis Yaw X-axis Roll Actuator (J11) 2720 3720 4720 5720 Middle X-axis Roll X-axis Roll Y-axis Pitch X-axis Roll Z-axis Yaw Actuator (J12) 2768 3768 4768 5768 Lower Z-axis Yaw Z-axis Yaw Z-axis Yaw Y-axis Pitch Y-axis Pitch Actuator (J13) 2782 3782 4782 5782 [0288] Table 6 shows the actuator configurations of different hip joint assemblies for third through seventh alternative embodiments of robot 2001, 3001, 4001, 5001, each of which have a different configuration of upper,
  • a joint of a robot can have three rotational actuators that can allow the connected limb to move in 3 degrees of freedom.
  • the alignment of the X, Y, and Z axis rotational actuators can be angularly offset to be perpendicular to each other or configured to be 90 degrees from each other.
  • the normal range of movement of the limbs can be analyzed to determine if any of the normal robot limb movements might enter a cone of singularity and have a singularity movement problem. If normal robot limb movement has a singularity problem, the position of one or more of the joint rotational actuators in a joint assembly design can be adjusted to prevent the axes of rotation from entering any cone of singularity of the other connected rotational actuators in the joint assembly. [0294] However, it is possible to move the hip assembly of robot 3001 (FIG. 85) into a singularity configuration. For example, the hip roll actuator can rotate the lower leg and foot in roll 90 degrees, which causes the lower leg to rotate into a horizontal position.
  • the X-axis hip roll actuators J12 can be angled downward from horizontal between about 12 degrees and about 22 degrees. This adjustment to the hip joint assembly can be done to prevent the axes from entering a cone of singularity. Using joint assemblies with these adjustments, robot limbs can have unhindered movement, range of motion, and performance.
  • the sixth embodiment of robot 5001 is shown in FIG. 87 and illustrates a hip joint assembly having an upper X-axis roll actuator, a middle Z-axis yaw actuator, and a lower Y- axis pitch actuator.
  • FIG. 87 also illustrates a diagram showing up, right, and front directions for the leg.
  • the disclosed robot and its functionality and methods of operation, are capable of other and different configurations and several details are capable of being modified all without departing from the scope of the disclosed methods and systems.
  • one or more of the disclosed embodiments, in part or whole, may be combined with a disclosed assembly, method and system.
  • one or more steps from the diagrams or components in the Figures may be selectively omitted and/or combined consistent with the disclosed assemblies, methods and systems.
  • one or more steps from the arrangement of components may be omitted or performed in a different order. Accordingly, the drawings, diagrams, and detailed description are to be regarded as illustrative in nature, not restrictive or limiting, of said humanoid robot.
  • robots include: articulated robot (e.g., an arm having two, six, or ten degrees of freedom, etc.), a cartesian robot (e.g., rectilinear or gantry robots, robots having three prismatic joints, etc.), Selective Compliance Assembly Robot Arm (SCARA) robots (e.g., with a donut shaped work envelope, with two parallel joints that provide compliance in one selected plane, with rotary shafts positioned vertically, with an end effector attached to an arm, etc.), delta robots (e.g., parallel link robots with parallel joint linkages connected with a common base, having direct control of each joint over the end effector, which may be used for pick-and-place or product transfer applications, etc.), polar robots (e.g., with
  • the robot system may include one or more sensors (e.g., cameras, temperature, pressure, force, inductive or capacitive touch), motors (e.g., servo motors and stepper motors), actuators, biasing members, encoders, housing, or any other component known in the art that is used in connection with robot systems.
  • the robot system may omit one or more sensors (e.g., cameras, temperature, pressure, force, inductive or capacitive touch), motors (e.g., servo motors and stepper motors), actuators, biasing members, encoders, housing, or any other component known in the art that is used in connection with robot systems.
  • sensors e.g., cameras, temperature, pressure, force, inductive or capacitive touch
  • motors e.g., servo motors and stepper motors
  • actuators biasing members, encoders, housing, or any other component known in the art that is used in connection with robot systems.
  • the server also includes a central processing unit (CPU), in the form of one or more processors, for executing program instructions.
  • the server platform typically includes an internal communication bus, program storage and data storage for various data files to be processed and/or communicated by the server, although the server often receives programming and data via network communications.
  • the hardware elements, operating systems and programming languages of such servers are conventional in nature, and it is presumed that those skilled in the art are adequately familiar therewith.
  • the server functions may be implemented in a distributed fashion on a number of similar platforms, to distribute the processing load. [0301] Hence, aspects of the disclosed methods and systems outlined above may be embodied in programming.
  • Storage type media includes any or all of the tangible memory of the computers, processors or the like, or associated modules thereof, such as various semiconductor memories, tape drives, disk drives and the like, which may provide non-transitory storage at any time for the software programming. All or portions of the software may at times be communicated through the Internet or various other telecommunication networks.
  • another type of media that may bear the software elements includes optical, electrical and electromagnetic waves, such as used across physical interfaces between local devices, through wired and optical landline networks and over various air-links.
  • Non-transitory, tangible “storage” media terms such as computer or machine “readable medium” refer to any medium that participates in providing instructions to a processor for execution.
  • a machine-readable medium may take many forms, including but not limited to, a tangible storage medium, a carrier wave medium or physical transmission medium.
  • Non- volatile storage media include, for example, optical or magnetic disks, such as any of the storage devices in any computer(s) or the like, such as may be used to implement the disclosed methods and systems.
  • Volatile storage media include dynamic memory, such as the main memory of such a computer platform.
  • Tangible transmission media include coaxial cables, copper wire and fiber optics, including the wires that comprise a bus within a computer system.
  • Carrier-wave transmission media can take the form of electric or electromagnetic signals, or acoustic or light waves such as those generated during radio frequency (RF) and infrared (IR) data communications.
  • RF radio frequency
  • IR infrared
  • Computer-readable media therefore include for example: a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD or DVD-ROM, any other optical medium, punch cards, paper tape, any other physical storage medium with patterns of holes, a RAM, a PROM and EPROM, a FLASH- EPROM, any other memory chip or cartridge, a carrier wave transporting data or instructions, cables or links transporting such a carrier wave, or any other medium from which a computer can read programming code and/or data. Many of these forms of computer readable media may be involved in carrying one or more sequences of one or more instructions to a processor for execution.

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Abstract

The disclosed humanoid robot is designed to perform diverse, human-like tasks in various environments, from industrial assembly and customer service to every day household chores. These robots possess anthropomorphic features including a head, torso, arms, legs, and hands, enabling complex motions with over 60 degrees of freedom. The upper portion houses over 70% of the DoF, allowing dexterous manipulation, while the central and lower portions are optimized for battery storage and efficient movement. More than 30 electric actuators (mostly rotary) power the humanoid robot, with a strategic arrangement that minimizes mechanical singularities and facilitates tasks such as deep squats and precise reaching. This configuration reduces cost, weight, and maintenance while improving performance and capabilities of said humanoid robot.

Description

HUMANOID ROBOT WITH ADVANCED KINEMATICS CROSS REFERENCE TO RELATED APPLICATIONS [0001] This application claims the benefit of and priority to U.S. Provisional Patent Application Nos. 63/556,102, filed February 21, 2024, 63/558,373, filed February 27, 2024, 63/632,683, filed April 11, 2024, 63/633,113, filed April 12, 2024, 63/633,405, filed April 12, 2024, 63/633,920, filed April 15, 2024, each of which is expressly incorporated by reference herein in its entirety. [0002] Reference is hereby made to: (i) U.S. Patent Application Nos. 18/919,263, 18/919,274, 19/000,626, 19/006,191, 19/038,657, (ii) U.S. Provisional Patent Application Nos. 63/556,102, 63/557,874, 63/561,307, 63/561,315, 63/561,317, 63/561,318, 63/564,741, 63/565,077, 63/573,226, 63/573,543, 63/574,349, 63/614,499, 63/615,766, 63/617,762, 63/620,633, 63/625,362, 63/625,370, 63/625,381, 63/625,384, 63/625,389, 63/625,405, 63/625,423, 63/625,431, 63/626,028, 63/626,030, 63/626,034, 63/626,035, 63/626,037, 63/626,039, 63/626,040, 63/626,105, 63/632,630, 63/633,931, 63/633,941, 63/634,599, 63/634,697, 63/635,152, 63/685,856, 63/696,507, 63/696,533, 63/700,749, 63/706,768, 63/707,547, 63/708,003, 63/722/057, and (iii) PCT Patent Application Nos. PCT/US25/10425, PCT/US25/11450, PCT/US25/12544, each of which is expressly incorporated by reference herein in its entirety. TECHNICAL FIELD [0003] This disclosure relates to a humanoid robot with advanced kinematics and methods of defining a kinematic configuration to a humanoid robot thereof. BACKGROUND [0004] The current workplace landscape is marked by an unparalleled labor shortage, evident in over 10 million unsafe or undesirable jobs within the United States. To counter this ever- expanding labor shortage, it has become imperative to design and integrate advanced robots capable of handling unappealing and even hazardous workplace tasks. With the goal of performing these tasks in an optimal and efficient manner, advanced robots are typically general-purpose humanoid robots tailored for human-centric environments. These general- purpose humanoid robots emulate human form and functionality with two legs, two arms, and a face-like screen. With the general-purpose humanoid robot’s emulation of the human body, arises the necessity for various actuators arranged within the robot to closely replicate human movements and capabilities. SUMMARY [0005] In one embodiment, a humanoid robot having a coronal plane is provided. In this embodiment, the humanoid robot includes a torso having a torso structure and an external surface, a left arm actuator coupled to the torso structure, wherein a majority of the left arm actuator is positioned within the external surface of the torso, and wherein when the humanoid robot is in a neutral position: an actuator bearing having a center that is positioned rearward of the coronal plane, and an arm axis that extends through the center of the actuator bearing, wherein the arm axis is angled relative to the coronal plane. The humanoid robot further includes a head and neck assembly coupled to the torso and including at least one actuator, a left arm coupled to the left arm actuator and including a left shoulder actuator having a shoulder axis, wherein the shoulder axis is not perpendicular to the arm axis in all planes, and an end effector coupled to the left arm and having at least three degrees of freedom. [0006] In another embodiment, a humanoid robot having at least a total of 30 of degrees of freedom is provided. In this embodiment, the humanoid robot includes a torso, an arm actuator coupled to the torso and having an arm axis, a torso twist actuator coupled to the torso and configured to allow the torso to twist around a torso twist axis, and a knee actuator with a knee axis. When the humanoid robot is in a neutral position: (i) the torso twist axis and the knee axis reside in the same plane, and (ii) the arm axis is angularly offset from said plane. The humanoid robot further includes an upper portion positioned above the torso twist axis and including at least 70% of the total degrees of freedom, and a lower portion positioned below the knee axis and including less than 10% of the total degrees of freedom. [0007] In yet another embodiment, a humanoid robot is provided. In this embodiment, the humanoid robot includes a torso, a left arm actuator coupled to the torso and having an arm axis, a torso twist actuator coupled to the torso and having a torso twist axis that is not perpendicular to the arm axis in all 3D planes, a torso lean actuator coupled to the torso twist actuator and having a torso lean axis oriented at an angle relative to the torso twist axis, and a left arm coupled to the left arm actuator. The left arm includes: (i) an upper arm twist actuator with an upper arm twist axis, (ii) an elbow actuator with an elbow axis oriented substantially perpendicular to the upper arm twist axis, and (iii) a lower arm twist actuator with a lower arm twist axis that is arranged both colinear with the upper arm twist axis and perpendicular to the elbow axis. [0008] In one embodiment, a humanoid robot is provided. In this embodiment, the humanoid robot includes a torso coupled to an arm and a pelvis, and a hip assembly coupled to the pelvis. The hip assembly includes a hip flex actuator with a hip flex axis, a hip pivot actuator coupled to the hip flex actuator and including a hip pivot axis, wherein the hip flex axis is oriented at an angle relative to the hip flex axis, and a leg twist actuator: (i) coupled to the hip pivot actuator, (ii) positioned below an extent of both of the hip flex actuator and hip pivot actuator, and (iii) includes a leg twist axis that is arranged coplanar with the hip flex axis. [0009] In another embodiment, a humanoid robot is provided. In this embodiment, the humanoid robot includes a torso, a left arm and a right arm, wherein both arms are coupled to the torso, a hip assembly coupled to the torso, a left leg and a right leg, wherein both legs are coupled to the hip assembly, a left foot coupled to the left leg, and a right foot coupled to the right leg. The humanoid robot includes at least 30 actuators associated with the torso, left and right arms, left and right hips, left and right legs, and left and right feet, and wherein said at least 30 actuators include less than 10 different actuator types, and wherein each actuator type provides a different momentary peak torque output rating. [0010] In yet another embodiment, a humanoid robot is provided. In this embodiment, the humanoid robot includes a torso, a left arm actuator coupled to the torso and having an arm axis oriented at an angle relative to a coronal plane that extends through the humanoid robot, when the humanoid robot is in a neutral position, a torso twist actuator coupled to the torso and configured to allow the torso to move about a torso twist axis, and wherein said torso twist axis is arranged coplanar with the coronal plane, when the humanoid robot is in a neutral position, and a torso lean actuator: (i) coupled to the torso twist actuator, and (ii) having a torso lean axis that is oriented at an angle relative to both the torso twist axis and a transverse plane that extends through the humanoid robot, when the humanoid robot is in the neutral position. [0011] Additionally, the humanoid robot may include a torso twist actuator configured to allow the torso to rotate about a twist axis that, when the robot is in its neutral position, lies coplanar with the coronal plane. In this embodiment, the torso twist actuator has a range of motion of less than 215°. Additionally, the robot may further comprise a torso lean actuator that, in an optional embodiment, features a torso lean axis angled relative to the twist axis, is coupled to the torso twist actuator, and is positioned rearward of it. This torso lean actuator is designed with a range of motion of less than 70°, and the interior angle between the torso lean and twist axes is maintained between 45° and 135°. [0012] Further, the left arm of the robot may be designed with multiple actuators: an upper arm twist actuator with an upper arm twist axis capable of more than 250° of motion, an elbow actuator whose axis is substantially perpendicular to the upper arm twist axis and provides more than 150° of motion, and a lower arm twist actuator that is both colinear with the upper arm twist axis and perpendicular to the elbow axis, offering a range of motion in excess of 300°. In this embodiment, the left arm further comprises a wrist flex actuator and a wrist pitch actuator, both of the same actuator type, with their respective axes angled relative to one another. [0013] Additionally, the humanoid robot may includes a total number of degrees of freedom with an upper portion—positioned above the torso twist actuator—that accounts for at least 70% of the total, and a lower portion—positioned below a knee actuator—that comprises less than 10% of the total degrees of freedom. In this embodiment, the knee actuator includes a knee axis coplanar with the coronal plane and offers a range of motion greater than 150°. Moreover, the robot may be configured to incorporate less than 10 different actuator types, with each type identified based on its momentary peak torque rating or by the inclusion of distinct components. [0014] Also, the arm actuator may feature an actuator bearing whose center is positioned rearward of the robot’s coronal plane when in the neutral position. The arm axis extends through this bearing and is angled relative to the coronal plane. In this configuration, the left arm is coupled to the arm actuator and includes a left shoulder actuator with a shoulder axis that is not perpendicular to the arm axis in every plane. Additionally, the torso itself is constructed with an internal structure and external surface designed to house a majority of the left arm actuator within its external surface. Moreover, the humanoid robot may include an end effector coupled to a left arm that has at least three degrees of freedom. In some embodiments, the hip pivot actuator is not directly connected to the pelvis, while the leg twist actuator is positioned at a first distance from the support surface, with the hip pivot and hip flex actuators positioned at a second, greater distance. The left and right legs, each having at least three degrees of freedom, may also be interchangeable. [0015] In other embodiments, the humanoid robot may have specific angular relationships for the arm actuators relative to the transverse, coronal, or sagittal planes, with arm axes configured at angles between 1° and 45°. In one such embodiment, the left arm includes an upper arm twist actuator and a lower arm twist actuator that are colinear, while the elbow actuator is offset from the line connecting these twist axes. Moreover, the overall robot may be designed so that the upper portion—including the head, neck, upper torso, arms, and hands— accounts for more than 70% of the total number of degrees of freedom, and the torso may optionally be configured to house a battery capable of powering the robot for at least four hours. [0016] In one embodiment, a method of defining an actuator arrangement of a humanoid robot is provided. In this embodiment, the method includes defining at least one task to be performed by the humanoid robot, collecting motion data associated with a human performing the at least one task, generating a kinematic map of the motion data, creating a biomechanical model including joint kinematics based on the kinematic map, determining joint angles based on the biomechanical model to achieve the desired end-effector positions throughout the task using inverse kinematics algorithms, and defining the range of motion requirements for individual joints of the robot. [0017] Additionally, the humanoid robot may be designed with a comprehensive method for kinematic analysis. This method involves generating a robot kinematic map based on a biomechanical model performing a specific task, identifying singularities within this map, and then modifying the model to minimize their effects. The approach further includes analyzing joint angles, velocities, accelerations, and torques, as well as determining acceptable torque ranges for individual joints. Estimated forces and torques on each joint are calculated by analyzing segment masses, moments of inertia, and external forces. Motion data for this analysis may be collected using high-speed cameras or inertial measurement units, and inverse kinematics may be solved using techniques such as the Levenberg-Marquardt method or the Jacobian transpose method. BRIEF DESCRIPTION OF THE DRAWINGS [0018] The drawing figures depict one or more implementations in accord with the present teachings, by way of example only, not by way of limitation. In the figures, like reference numerals refer to the same or similar elements. [0019] FIG.1 is a schematic illustration of various embodiments of a robot that is configured to perform robot tasks at an operating location, where the illustrated tasks are examples of tasks to be performed by the robot; [0020] FIG.2A is a perspective view of a robot of FIG. 1 in a first bending position, where the torso of the robot is in a flexion position bent over straight legs to reach a bin on the floor; [0021] FIG.2B is a front view of the robot of FIG.2A; [0022] FIG.2C is a side view of the robot of FIG.2A; [0023] FIG.2D is a perspective view of a robot of FIG.1 in a second bending position, where the torso of the robot is in a neutral position and the legs are rotated laterally outward at the hips and bent at the knees and ankles to reach a bin on the floor; [0024] FIG.2E is a front view of the robot of FIG.2D; [0025] FIG.2Fis a side view of the robot of FIG.2E; [0026] FIG.2G is a perspective view of a robot of FIG.1 in a third bending position, where the torso of the robot is in a flexion position bent over and the legs are rotated laterally outward at the hips and bent at the knees to reach a bin on the floor; [0027] FIG.2H is a front view of the robot of FIG.2G; [0028] FIG.2I is a side view of the robot of FIG.2G; [0029] FIG. 2J is a perspective view of the robot of FIG. 1 with the left and right arms extending medially across the torso in different positions; [0030] FIG.2K is a front view of the robot of FIG.2J; [0031] FIG.2L is a side view of the robot of FIG.2j; [0032] FIG. 3 shows a human collecting motion data associated with a given set of robot tasks and a kinematic map that may be created from the motion data; [0033] FIG.4A shows a top view of the kinematic map of the left and right arms of the robot that includes a location of a singularity of the arms; [0034] FIG.4B shows a side view of the robot and the kinematic map of FIG.3; [0035] FIG.5 is a cross-sectional view of the robot and the kinematic map taken along line 5-5 of FIG.4; [0036] FIG.6 is a cross-sectional view of the robot and the kinematic map taken along line 6-6 of FIG.4; [0037] FIG.7 is a diagram of designing a robot based on kinematic information; [0038] FIG. 8A is a perspective schematic view of kinematic chains contained within the robot that were at least partially developed from the kinematic map shown in FIGS. 3-6, and wherein commonalities associated with each element of said kinematic chains are shown via the stippling associated with said elements; [0039] FIG. 8B is a perspective schematic view of kinematic chains contained within the hand of the robot of FIG.1; [0040] FIG.9 is a perspective view of an arrangement of actuator bearings that was generated from the kinematics chains of FIG. 8, wherein the axis of rotation of an individual actuator is centered within the actuator bearing and perpendicular to a plane defined by the actuator bearing; [0041] FIG. 10 is a perspective view of a first embodiment of a robot generated from the arrangement of actuator bearings shown in FIG. 9, and wherein said robot is in an extended position and includes: (i) an upper portion having the following parts: (a) a head/neck, (b) a torso, (c) left and right shoulders, (d) left and right upper arm assemblies that each include an upper humerus, lower humerus, upper forearms, and lower forearms, (e) left and right wrists, and (f) left and right hands, (ii) a central portion having the following parts: (a) a spine, (b) a pelvis, (c) left and right hips, (d) left and right upper thighs, and (f) left and right lower thighs, and (iii) a lower portion having the following parts: (a) a left and right shins, (b) left and right talus, and (c) left and right feet; [0042] FIG.11A is a front view of the kinematic chains contained within the robot and shown in FIG.8A; [0043] FIG.11B is a front view of the kinematic chains contained within the robot and shown in FIG.8B; [0044] FIG.12 is a front view of the arrangement of actuator bearings contained within the robot and shown in FIG.9; [0045] FIG.13 is a front view of the robot of FIG.10 in the extended position; [0046] FIG.14 is a rear view of the robot of FIG.10 in the extended position; [0047] FIG.15 is a side view of the kinematic chains contained within the robot and shown in FIG.8A; [0048] FIG. 16 is a side view of the arrangement of actuator bearings contained within the robot and shown in FIG.9; [0049] FIG.17 is a side view of the robot of FIG.10 in an initial position; [0050] FIG.18 is a perspective view of the robot of FIG.10 in an initial position; [0051] FIG.19 is a zoomed in top view of the left shoulder of the robot of FIG.10, wherein the shoulder actuator couples the arm assembly to the torso; [0052] FIG.20 is a zoomed in side view of the left shoulder of the robot of FIG.10; [0053] FIG.21 shows the kinematic chains contained in the arm assembly and that are shown in FIG.8A; [0054] FIG.22A is a front view of actuators J8.1, J1, J2, J3 of the neck and left arm assembly of FIG.8A, showing the range of positioning angles for actuator J1; [0055] FIG.22B is a top view of actuators J8.1, J1, J2, J3 of FIG.22A, showing the range of positioning angles for actuator J1; [0056] FIG. 23 is a schematic of the movement limits of the left arm actuator (J1) and left shoulder actuator (J2); [0057] FIG. 24 is a top view of the actuator bearings contained in the left arm assembly of the robot of FIG.9, wherein said actuators include J1-J7; [0058] FIG.25 is a left side view of the actuator bearings of the actuators J1-J7 contained in the left arm assembly of the robot shown in FIGS.24; [0059] FIG. 26 is a frontal view of the actuator bearings of the actuators J1-J7 contained in the left arm assembly of FIG. 24, wherein said frontal view is modified to be normal to the bearing plane of actuator J2; [0060] FIG. 27 is a cross-sectional view of the actuator bearings contained in the left arm assembly taken along line 27-27 in FIG.26; [0061] FIG.28 is a top view of the actuator bearings of the actuators J1-J7 contained in the left arm assembly of FIG. 24, wherein said top view is modified to be tangent to the bearing plane of actuator J2; [0062] FIG. 29 is a cross-sectional view of the actuator bearings contained in the left arm assembly taken along line 29-29 in FIG.28; [0063] FIG.30 is a top view of a of a portion of the robot of FIG.10 showing the torso and upper left arm assemblies, where the left arm actuator (J1) is rotated to a maximum position and other components of the robot are not shown; [0064] FIG.31 is a front view of the torso and upper left arm assemblies of FIG.30; [0065] FIG.32 is a top view of a portion of the robot of FIG.10 showing the torso and upper left arm assemblies, where the left arm actuator (J1) is rotated to a minimum position and other components of the robot are not shown; [0066] FIG.33 is a front view of the torso and upper left arm assemblies of FIG.32; [0067] FIG.34 is a top view of a portion of the robot of FIG.10 showing the torso and upper left arm assemblies, where the left shoulder actuator (J2) is rotated to a maximum position and other components of the robot are not shown; [0068] FIG.35 is a front view of the torso and upper arm assemblies of FIG.34; [0069] FIG.36 is a top view of a portion of the robot of FIG.10 showing the torso and upper left arm assemblies, where the left shoulder actuator (J2) is rotated to a minimum position and other components of the robot are not shown; [0070] FIG.37 is a front view of the torso and upper arm assemblies of FIG.36; [0071] FIG. 38 is a front view of a second embodiment of an upper portion of the robot, which shows a kinematic map of the left arm of said robot; [0072] FIG. 39 is a schematic of the movement limits of the left arm actuator (J1) and left shoulder actuator (J2) of the second embodiment of the robot shown in FIG.38; [0073] FIG. 40 is a perspective view of the second embodiment of a kinematic chain of an upper portion of the robot and the associated singularity cone; [0074] FIG. 41 a front view of the second embodiment of a kinematic change of an upper portion of the robot and the associated singularity cone; [0075] FIG.42 is a perspective view of a third embodiment of a kinematic chain of an upper portion of the robot and the associated singularity cone; [0076] FIG. 43 a front view of the third embodiment of a kinematic change of an upper portion of the robot and the associated singularity cone; [0077] FIG.44 is a perspective view of a fourth embodiment of a kinematic chain of an upper portion of the robot and the associated singularity cone; [0078] FIG. 45 a front view of the fourth embodiment of a kinematic change of an upper portion of the robot and the associated singularity cone; [0079] FIG.46 is a perspective view of a fifth embodiment of a kinematic chain of an upper portion of the robot and the associated singularity cone; [0080] FIG.47 a front view of the fifth embodiment of a kinematic chain of an upper portion of the robot and the associated singularity cone; [0081] FIG.48 is a lower perspective view that zoomed in on the central portion of the first embodiment of the robot of FIG.1; [0082] FIG.49 is a front view of the central portion of the robot of FIG.48; [0083] FIG.50 is a side view of the central portion of the robot of FIG.48; [0084] FIG. 51 is a front view of a portion of the robot of FIG. 10, where the robot is in a neutral position and the head and arm assemblies of the upper portion are not shown; [0085] FIG.52 is a side view of the portion of the robot of FIG.51; [0086] FIG.53 shows the kinematic chains contained in the leg assembly and that are shown in FIG.8A; [0087] FIG. 54A is a side view of actuators J9-J13 of FIG. 8A, showing the range of positioning angles for actuators J9 mad J12; [0088] FIG.54B is a front view of actuators J8.1, J1, J2, J3 of FIG.54A, showing the range of positioning angles for actuator J11; [0089] FIG.55 is a side view of the actuator bearings of the actuators J9-J14 and J16 of the left leg of the robot of FIG.12; [0090] FIG. 56 is a schematic of the movement limits of the hip flex actuator (J11) and hip pivot actuator (J12) of the robot shown in FIGS.48-52; [0091] FIG. 56 is a schematic of the movement limits of the hip flex actuator (J11) and hip pivot actuator (J12) of the robot shown in FIGS.48-52; [0092] FIG. 57 is a schematic side view of the ranges of motion of the robot as said robot articulates its left leg between the positions shown in FIGS.58-61; [0093] FIG.58 is a side view of the portion of the robot of FIG.52, and wherein the left leg is in a fully retracted posterior configuration; [0094] FIG.59 is a front view of the portion of the robot of FIG.58; [0095] FIG.60 is a side view of the portion of the robot of FIG.52, and wherein the left leg is in a fully extended anteriorly configuration; [0096] FIG.61 is a front view of the portion of the robot of FIG.60; [0097] FIG. 62 is a schematic front view of the ranges of motion of the robot as said robot articulates its left leg between the positions shown in FIGS.63-64; [0098] FIG.63 is a front view of the portion of the robot of FIG.52, and wherein the left leg is fully extended medially and the right leg is fully extended laterally; [0099] FIG.64 is a front view of the portion of the robot of FIG.52, and wherein the left leg is a fully extended lateral configuration; [0100] FIG.65 is a front view of the portion of the robot of FIG.52, and wherein the left leg is in a fully rotated medial configuration; [0101] FIG.66 is a front view of the portion of the robot of FIG. 52, and wherein the leg is in a fully rotated lateral configuration; [0102] FIG. 67 is a bottom view of the portion of the robot of FIG. 52, wherein the left leg is in a partially rotated medial configuration; [0103] FIG.68 is a bottom view of the portion of the robot of FIG.65; [0104] FIG. 69 is a bottom view of the portion of the robot of FIG. 52, wherein the left leg is in a partially rotated lateral configuration; [0105] FIG.70 is a bottom view of the portion of the robot of FIG.66; [0106] FIG.71 is a front view of the portion of the robot of FIG.52, and wherein said robot’s torso is fully rotated to the right; [0107] FIG.72 is a top view of the portion of the robot of FIG.71; [0108] FIG.73 is a front view of the portion of the robot of FIG.52, and wherein said robot’s torso is fully rotated to the left; [0109] FIG.74 is a top view of the portion of the robot of FIG.73; [0110] FIG.75 is a side view of the portion of the robot of FIG.52, and wherein the torso of said robot is fully leaned to the right; [0111] FIG.76 is a front view of the portion of the robot of FIG.75; [0112] FIG. 77 is a front view of the portion of the robot of FIG. 52, and wherein the torso of said robot is fully leaned to the left; [0113] FIG.78 is a side view of the portion of the robot of FIG.77; [0114] FIG.79 is a perspective view of a schematic showing the kinematic chains contained within a second embodiment of the robot and commonalities associated with each element of said kinematic chains, and wherein an axis of the hip flex actuator J12 actuator is parallel (e.g., not angled) with the horizontal or transverse plane; [0115] FIG.80 is a rear perspective view of the kinematic chains of FIG.79; [0116] FIG. 81 is a side view of a lower portion of the second embodiment of the robot generated from the kinematic chains shown in FIGS.79-80; [0117] FIG.82 is a front perspective view of the lower portion of the robot of FIG.81; [0118] FIG.83 is a rear perspective view of the lower portion of the robot of FIG.81; [0119] FIG.84 is a perspective view of a schematic showing the kinematic chains contained within a third embodiment of a leg assembly of a robot; [0120] FIG.85 is a perspective view of a schematic showing the kinematic chains contained within a fourth embodiment of a leg assembly of a robot; [0121] FIG.86 is a perspective view of a schematic showing the kinematic chains contained within a fifth embodiment of a leg assembly of a robot; and [0122] FIG.87 is a perspective view of a schematic showing the kinematic chains contained within a sixth embodiment of a leg assembly of a robot; DETAILED DESCRIPTION [0123] In the following detailed description, numerous specific details are set forth by way of examples in order to provide a thorough understanding of the relevant teachings. However, it should be apparent to those skilled in the art that the present teachings may be practiced without such details. In other instances, well-known methods, procedures, components, and/or circuitry have been described at a relatively high-level, without detail, in order to avoid unnecessarily obscuring aspects of the present disclosure. [0124] While this disclosure includes several embodiments in many different forms, the drawings contained herewith are considered exemplary. As such, said drawings are not intended to limit the broad aspects of the disclosed concepts. As will be realized, the disclosed methods and systems are capable of other and different configurations, and several details are capable of being modified without departing from the scope of the disclosed methods and systems. For example, one or more of the following embodiments, in-part or whole, may be combined consistent with the disclosed methods and systems. As such, one or more steps from the flow charts or components in the Figures may be selectively omitted and/or combined consistent with the disclosed methods and systems. Additionally, one or more steps from the flow charts or the method of assembling the shoulder and upper arm may be performed in a different order. In summary, the drawings, flow charts and detailed descriptions are to be regarded as illustrative in nature, not restrictive or limiting. 1. Definitions [0125] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the specification and relevant art and should not be interpreted in an idealized or overly format sense unless expressly defined herein. [0126] Although selected human medical terminology is used to describe features and/or relative positions related to the humanoid robot, it should be understood said medical terminology does not directly correspond to the exact same features of a human. It should be understood that names of various assemblies and components (e.g. including housings and assemblies contained within) may generally relate to a location of similar anatomy of a human body and do not have an exact correlation in dimension, function, or shape. The reference system including three orthogonal reference planes is defined with respect to the robot in a neutral standing position to describe relative positions of components of the robot. Although standard human medical terminology is used to describe the anatomical reference planes (i.e. sagittal, coronal, transverse) of the robot, the planes may be shifted from the typical location on a human to be meaningful for the kinematic layout and features of the robot. [0127] Neutral Position: is a self-supporting position of the robot. In this position, the robot is standing upright on a horizonal support surface and facing forward with its torso vertically aligned over its pelvis and legs, where the legs are substantially straight with the knees aligned under the hips and above the ankles, such that the robot’s weight is balanced over its feet. In the neutral position, the robot’s head is facing forward, the arms are located at the sides of the robot, the hands are oriented with the palms facing inward, and the fingers pointing in a substantially downward direction toward the horizontal support surface. [0128] Extended position: a position of the robot with the arms extended outward laterally at the shoulder and oriented with the palms of the hands facing forward and the fingers pointing in a substantially outward direction, where the central and lower portions of the robot remain in a neutral position. [0129] Sagittal plane: a vertical plane that aids in defining the left and right sides of the robot. Accordingly, the sagittal plane may: (i) divide the robot and/or the torso into equal left and right sections or halves, (ii) extend through the axis of rotation about which the torso twists or rotates relative to the pelvis and legs, (iii) contain the origin point of the robot, and/or (iv) be directly positioned between the left and right legs, and/or left and right arms. In the illustrative embodiment, the sagittal plane (PS) is a vertical plane that contains the rotational axis A10 of torso twist actuator (J10) located in the spine 60 of the robot 1 and divides the left and right sides of the robot 1, as indicated in at least FIGS. 11-13 and 49. In other words, the sagittal plane (PS) is a plane that is coplanar with the rotational axis A10 of torso twist actuator (J10). [0130] Coronal plane: a vertical plane that aids in defining the front and back portions of the robot. Accordingly, the coronal plane may: (i) divide the robot and/or the torso into equal front and back sections or halves, (ii) extend through the axis of rotation about which the torso pitches forward or backward, (iii) extend through the axis of rotation about which the knees pitch forward and backward, and/or (iv) extend through the axis of rotation about which the elbow moves forward and backward, when the robot is in the extended position. In various embodiments, said axis of rotation for torso pitch may be bilateral colinear axes, a single centrally located axis, or an axis defined by a line connecting the center of the actuator bearings of two actuator that provide the torso pitch function. In the illustrative embodiment, the coronal plane (PC) is a vertical plane that contains the rotational axes A11 of the hip flex actuators (J11) located in the hips 70 and rotational axis A10 of torso twist actuator (J10) located in the spine 60 of the robot 1, as indicated in at least FIG.15, 16, and 52. In other words, the coronal plane (PC) is a plane that is coplanar with the rotational axis A11 of the hip flex actuators (J11) and rotational axis A10 of torso twist actuator (J10). Also, as shown in these figures, the coronal plane (PC) does not bisect the robot, or torso, into equal front and back halves, it is offset forward of a majority of the arm actuators in the extended position, and other positional relationships that can be understood from the figures. [0131] Transverse plane: a horizontal plane aids in defining the upper and lower portions of the robot. Accordingly, the transverse plane may: (i) divide the robot into equal upper and lower sections or halves, (ii) extend through the axis of rotation about which the torso pitches forward or backward, as defined above, and/or (iii) extend through the widest part of the pelvis. In the illustrative embodiment, the transverse plane (PT) is a horizontal plane that contains the rotational axes A11 of the hip flex actuators (J11) located in the hips 70 of the robot 1, as indicated in at least FIGS.11-13 and 49. Also, as shown in these figures, transverse plane (PT) is positioned below both spine actuators (J9 and J10), in front of a majority of the arm actuators, and other positional relationships that can be understood from the figures.. [0132] Origin point: the orthogonal intersection point of the sagittal plane, coronal plane, and transverse plane, all of which extend through humanoid robot disclosed herein.. [0133] Reference Axes: consist of: (i) the Z-axis (vertical) is defined at the intersection of the sagittal plane and coronal plane, (ii) the Y-axis (horizontal) is defined at the intersection of the coronal plane and transverse plane; and (iii) the X-axis (depth) is defined at the intersection of the sagittal plane and transverse plane. [0134] Kinematic chain: a representation of an assembly of rigid bodies connected by joints to provide constrained motion. Within this application, the kinematic chain is illustrated by cylindrical bodies, where the central axis of the individual cylindrical bodies represent the position and orientation of the axis of rotation for the individual actuators. For example, each of the rotary actuators has a central rotational axis. Other types of actuators may include linkages that provide rotational movement about one or more rotational axes via linkages or other means. [0135] Range of motion: a range of rotational motion of an actuator about an axis of rotation, where a first and second angle defines a rotational limit in opposing rotational directions from a neutral position expressed in degrees of rotation. [0136] Degrees of Freedom (DoF): the number of parameters that define the configuration of the kinematic chain and possible movements associated therewith. [0137] Joint singularities: geometric configurations of the robot's joints in which one or more degrees of freedom are effectively lost due to the alignment or overlap of rotational or translational axes. [0138] Actuator bearing: a specific component of the individual actuator assembly that is generally ring-shaped with parallel edge guides, wherein the rotational axis (An) of the actuator is centered within the actuator bearing and perpendicular to the parallel edge guides. Within this application, the actuator bearings of individual actuators are referenced to further define orientation of the rotational axes and/or relative size of the individual actuator. [0139] Actuator bearing plane (Bn): a plane defined mid-width of actuator bearing between parallel edge guides and perpendicular to the rotational axis (An). 2. Introduction [0140] The current workplace landscape is characterized by an unprecedented labor shortage, particularly evident in over 10 million unsafe or undesirable jobs across the United States. To address this growing labor deficit, there is a need for advanced robots capable of performing unappealing and hazardous workplace tasks. However, conventional robots may have limitations in their ability to operate effectively in human-centric environments. This creates a need for: (i) advanced robots capable of handling undesirable and hazardous tasks, or (ii) advanced robots capable of generating data that can be utilized to develop cutting-edge artificial intelligence models (e.g., LLMs, VLMs, VLAs, and/or BAMs) to enable these robots to operate autonomously in human-centric environments. [0141] These robots may include general-purpose humanoid robots specifically tailored for human-centric environments. General-purpose humanoid robots may emulate the human form and functionality, featuring two legs, two arms, and a screen. This emulation may necessitate the integration of various actuators within the robot to closely replicate human movements and capabilities. The requirement for actuators extends beyond cosmetic resemblance, as the actuators enable the robot to manipulate its arms, legs, and other assemblies to interact seamlessly with diverse objects in complex environments. [0142] The challenge of enabling humanoid robots to execute human movements and capabilities may be compounded by the vast array of potential positions, locations, and states the robot could occupy in a dynamic operating environment. These permutations can be reduced through training methodologies, such as: (i) imitation learning or teleoperation, (ii) supervised learning, (iii) unsupervised learning, (iv) reinforcement learning, (v) inverse reinforcement learning, (vi) regression techniques, or (vii) other established methods. While training can help minimize these permutations, improper or non-optimal configurations of parts, assemblies, and components may negate the benefits of training and render specific tasks infeasible. Therefore, it may be beneficial to optimize the arrangements of parts, assemblies, and components, particularly in the robot's kinematic chains, to ensure that the humanoid robot can replicate human movements and perform a wide range of tasks. Without such optimized kinematic configurations, advanced robots may not meet the operational requirements. Thus, the inclusion of at least one optimized component or assembly, such as a single actuator, a hand, or an arm, may be desirable. [0143] In addition to optimized kinematic configurations, the robot may have high-precision actuators paired with real-time sensor feedback loops and a control system. The sensors may be designed to continuously monitor the robot’s orientation, speed, and force exerted on one or more robot components (e.g. arm assembly, leg assembly, etc.). The control system may comprise a computing device including a processor and memory, and instructions, when executed in the computing device, to receive data from a plurality of sensors and control the actuators to affect movement of one or more of the robot components. The computing device of the robot may reside in a networked environment and execute additional instructions and/or applications not disclosed herein. The data collected can be processed by an advanced computing architecture, residing in the networked environment, to further train the neural networks that enable the robot to perform its tasks (e.g., enabling it to walk more human-like, climb stairs, or traverse uneven terrain with fluidity and stability) or said data may be used to train other neural networks that are designed to control different robots. Additionally, the disclosed advanced robots may also address technical challenges related to dexterity and object manipulation. For example, the disclosed robots may include end effectors that feature multi- jointed designs with a high number of degrees of freedom, enabling complex and precise movements. Additionally, tactile sensors may be embedded in the said end effectors to provide detailed feedback on pressure, texture, and temperature, which again can be used to train local or remote neural networks to improve execution of the set of tasks and/or response to other sensor input. [0144] The robot may further include a cutting-edge computer vision system, which may be equipped with depth perception and object recognition capabilities. By integrating sensory data with artificial intelligence algorithms, the robot may learn from experience, improving its ability to grasp and manipulate a wide variety of objects over time. Predictive algorithms may also enable the robot to anticipate the behavior of dynamic objects, such as catching a ball in mid-air or interacting with moving conveyor belts in industrial settings. [0145] Also, the robot may be capable of enhanced by the incorporation of human-robot interaction (HRI) capabilities with the robot. Equipped with auditory sensors and advanced natural language processing (NLP) algorithms, the robot may engage in verbal communication, understanding and generating speech in multiple languages. It may process contextual information to generate appropriate responses and detect emotional nuances in human speech, enabling meaningful and context-aware interactions. Additionally, the robot may integrate non- verbal communication cues, such as gestures and block-based expressions displayed on its screen, to create intuitive and human-like interactions. These features may make the robot highly adaptable to social environments, including classrooms, eldercare facilities, and hospitality settings. [0146] Finally, the robot may include redundant systems to help ensure continuous operation in the event of component failure. For example, critical systems such as balance control and power management may be supported by backup circuits and secondary control algorithms. Advanced diagnostic tools may continuously monitor the robot’s components, predicting potential failures before they occur and initiating self-repair routines or alerting users. These safety measures, combined with the robot’s robust energy management systems, may ensure reliable performance in diverse and demanding applications. 3. Generation of the Robot Model [0147] The robot 1 may feature a capability to avoid, or substantially avoid, geometric configurations of the robot's joints in which one or more degrees of freedom are effectively lost due to the alignment or overlap of rotational or translational axes – namely, joint singularities. These configurations can result in a reduction in the robot's ability to maneuver, exert force, or maintain precision during task execution. To mitigate these challenges, the robot’s pre- determined range of motion requirements may be carefully analyzed and selected. For instance, during tasks requiring the arms to be placed overhead, a control system may ensure that joint trajectories are planned to avoid positions within 5 degrees, and preferably not within 20 degrees, of a singularity to reduce mechanical stress and maintain full operational control. However, to enable said control system to avoid said singularities, the robot 1 will typically need an optimized kinematic configuration that includes a properly chosen range of motion requirements. The following disclosure discusses how a design may generate such a configuration. However, it should be noted that the following steps may be skipped, performed out of order, revised, modified, and/or replaced. [0148] The process of defining a kinematic configuration that includes a range of motion requirements for the robot 1 may involve a multi-faceted approach combining data collection techniques, computational modeling, iterative design optimization, and implementation systems and/or methods. A motion capture system may be employed in step 952 to capture the nuanced movements of human subjects performing robot tasks within a set of robot tasks. This system may utilize a network of high-speed cameras, potentially operating at frame rates exceeding 240 Hz, strategically positioned around a capture volume. Retroreflective markers, with diameters ranging from 3 to 14 mm, may be placed at key anatomical landmarks on the human subjects. To complement or replace the optical motion capture data, inertial measurement units (IMUs) may be integrated into the data collection protocol. These IMUs may incorporate tri-axial accelerometers with measurement ranges of ±16g, gyroscopes capable of measuring angular velocities up to ±2000 degrees per second, and magnetometers for absolute orientation reference. The IMUs may be synchronized with the motion capture system using a common time base, potentially achieved through wireless time synchronization protocols or hardwired trigger signals. The fusion of optical and inertial data may enable robust tracking of body segments even in scenarios where optical markers may be temporarily occluded. [0149] FIG.3 shows the data that was captured and integrated from the motion capture, IMU, gyroscope and/or magnetometer data, which can be used to generate a kinematic map in step 954. This kinematic map considers the position of the robot elbow with respect to the center of the robot torso. For simplicity, the arm reference planes (PT’, PC’) are shifted from the reference planes of the robot (PT, PC) to include an arm reference axis Rarm defined as an axis that is colinear with a central axis of the upper arm (i.e., axis A3 of the arm twist actuator J3) when in the extended arm position. The arm transverse plane (PT’) is parallel to the transverse plane (PT) of the robot 1 and an arm coronal plane (PC’) is parallel to the coronal plane (PC) of the robot 1. The kinematic map is drawn with respect to a shifted origin point (O’) at the intersection of arm reference planes (PT’, PC’) and the sagittal plane (PS) of the robot 1, where a selected radial distance is map as the robot arm 5 is moved through space. In FIGS. 5-6, reference line RS extends from the shifted origin point O’ through the center of the singularity S. This information helps define the degrees of freedom of the arm and location of the axes of rotation. [0150] In light of the above and shown in FIGS. 5-6, the location of the singularity (S) is positioned at a rearward angle alpha from the arm coronal plane (PC’). Said angle alpha may be between 1 and 45 degrees, preferably between 5 and 25 degrees, and most preferably between 10 and 20 degrees. Further, the location of the singularity is positioned at an upper angle beta from the arm transverse plane (PT’). Said angle beta may be between 1 and 45 degrees, preferably between 5 and 25 degrees, and most preferably between 10 and 20 degrees. In robot 1, an axis of rotation A1 located in the torso can provide additional degrees of freedom such that the location of the singularity does not interfere with the range of motion. Accordingly the angle of axis A1 directly influences the location of the singularity because said singularity will occur when the axis A1 of is aligned with the axis A3. It should also be understood that: (i) the wide dark gray circles represent the best workable area, (ii) the mid-tone gray circles represent the workable area, (iii) the light gray circles represent areas that are workable, but are coming close to being undesirable, (iv) the narrow dark gray circles represent undesirable area, and (v) black area represents the singularity zone that should be avoided. In other words, it is desirable to maintain the robot arms within the dark gray circles and keep them from entering the black circles. [0151] Although this example shows the singularity of the kinematic map when positioning of the upper arms, this same process may be utilized to determine joint location (e.g., rotational axis, orientation, and spacing) for other kinematic chains of the robot. For example, the motion of each leg may be considered to determine joint location for the hips. By modeling these joints to substantially match the range of motion of a human (FIG.3), robot can operate in a human- centric environment. In various aspects, it may be advantageous to create a biomechanical model that positions singularities to improve the range of motion compared to a human. [0152] Next, in step 956, a high level kinematic configuration of the joints can be created based on the kinematic map. For example, the number of rotational axes and generalized positions can be included in a biomechanical model to define kinematic chains. The joint angles can be determined based on the biomechanical model to achieve the desired end-effector positions using inverse kinematics algorithms or other means. Further, the range of motion requirements for individual joints of the robot can be defined. [0153] Next, in step 958, a biomechanical model may be generated from the high level kinematic configuration. The biomechanical model may include joint kinematics, skeletal structure, and/or muscle force-length-velocity relationships. For example, the joint kinematics may include number of joints and relative dimensions of basic framework segments connecting individual joints to form a kinematic chain. This biomechanical model may be further developed by analyzing the multiple ways of performing the same task within the general set of tasks. For the example of picking up a bin from the ground, could involve investigating three distinct strategies: (i) knee bending with minimal, to no, torso 16 bending, (ii) torso 16 bending with minimal, to no, knee bending, and (iii) a combination of knee and torso 16 bending. Each strategy may be analyzed in terms of joint angles, velocities, accelerations, and torques throughout the movement sequence to further develop or increase the fidelity of the biomechanical model. Inverse kinematics algorithms, such as the Levenberg-Marquardt method or the Jacobian transpose method, may be used to determine the joint angles necessary to achieve the desired end-effector positions throughout the task. [0154] Additionally, inverse dynamics calculations may be performed to estimate the forces and torques exerted on each joint during the motion. These calculations may consider factors such as segment masses, moments of inertia, and external forces. For example, the biomechanical model can be used to estimate the forces on the joints based on the expected motions of and loads exerted on the humanoid robot. Specifically, the joints must be able to bear the static load (e.g., weight) of the component that houses the joint and additional components along the kinematic chain, and affect movement of said static load. For example, the joint at the hip of the leg kinetic chain needs to move or position not only the thigh component coupled thereto, but the entire leg and foot further down the kinetic chain. Further, any expected loads associated with the tasks can also be considered. For example, if the task includes the robot carrying heavy objects, the maximum load of can be additionally considered in determining joint forces in the arms. [0155] The developed or revised biomechanical model may then be analyzed to select a pre- determined range of motion requirements from a pre-defined set of range of motion requirements or create a set of range of motion requirements. In analyzing said developed or revised biomechanical model, the designer may consider: (i) center of mass trajectory with and without the bin, which may involve calculating the zero-moment point (ZMP) trajectory, (ii) weight of the bin, its dimensions, and locations that the bin may need to be placed, (iii) energy efficiency, mechanical wear on specific joints, robustness of the movement to external perturbations, and/or aesthetic qualities of each movement strategy. [0156] Finally, revised biomechanical model, or in some embodiments, the biomechanical model, may be used in step 960 to determine the actuator bearing configuration for each actuator defining a joint can be determined based on the estimated forces exerted on the joints. In this application a majority of the actuators used are electric rotary actuators that include actuator bearing and operate with a defined torque range. The actuator bearings are sized based on expected load and are generally proportional to the size of the associated actuator. For example, the actuator bearing can be a cross-roller bearing, roller bearing, or other bearing disclosed herein. 4. Overview of the Physical Robot [0157] FIG.1 shows an illustrative schematic of various embodiments of humanoid robot(s) 1a, 1b, 1c capable of performing tasks, such as walking long distances and obtaining objects from bins, among other general or specific tasks defined to an operational environment. These robot tasks may include single robot task or multiple robot tasks in a generally human-centric environment and may be dangerous, routine, and/or repetitive tasks. Unlike traditional automation systems, the humanoid robot tasks may be dexterous, human-like tasks that demand advanced motor skills, environmental adaptability, and decision-making processes. Examples of such robot tasks include, but are not limited to, assembling components (e.g., automotive parts) in a production line, welding, painting, precision machining, or operating heavy machinery. The task may also include gathering and packing items from storage bins, transporting items between storage and staging areas or in customer service roles by providing real-time assistance to human customers, such as giving directions, answering queries, and facilitating checkout processes. In other commercial or retail settings, the robots may perform tasks such as stocking shelves, unloading delivery vehicles, conducting inventory counts, rearranging displays, and sanitizing high-touch areas. In non-industrial settings, the robot tasks may include tidying up spaces, putting away groceries, cleaning, folding clothes, making beds, preparing meals, organizing closets, and/or setting tables. [0158] To simplify the following disclosure, the discussion herein will primarily focus on the first embodiment of the robot 1 (also shown as robot 1a in FIG. 1). However, it should be understood that most, if not all, of the following disclosure applies to other embodiments of robot, including alternative robots 1001, 2001, 3001, 4001, and 5001 disclosed herein. FIGS. 10, 13, 14, 17, and 18 show a humanoid robot 1 comprising multiple systems, assemblies, components and/or parts. Said systems, assemblies, components and/or parts may have anthropomorphic characteristics to enable said robot 1 to emulate the human form and perform a diverse set of tasks. These systems, assemblies, components and/or parts may include a head/neck 10, torso 16, left and right arms, which each include a shoulder 26, upper humerus 30, lower humerus 36, upper forearm 40, lower forearm 46, wrist 50, and hand 56. The robot 1 also includes a spine 60, pelvis 64, left and right hips 70, and left and right legs, which each include an upper thigh 76, lower thigh 80, shin 84, talus 88, and foot 92. [0159] The positional relationship of the actuators within the robot 1 and their positional relationship to one another provides said robot 1 with a substantial advantage over conventional robots. As shown in at least FIGS.10, 13, 14, 17, and 18 and explained below, the humanoid robot 1 includes 62 degrees of freedom (DoF). In particular, the 62 degrees of freedom are distributed within the robot 1 as follows: (i) 48 degrees of freedom are contained in the upper portion 2 of the robot 1, (ii) 10 degrees of freedom are contained in the central portion 3 of the robot 1, and (iii) 4 degrees of freedom are contained in the lower portion 4 of the robot 1. Stated another way, the 62 degrees of freedom are distributed within the robot 1 as follows: (i) 16 degrees of freedom are contained in each hand 56, (ii) 6 degrees of freedom are contained in each arm assembly 5, and (iv) 2 degrees of freedom are contained in each of the upper torso, spine/pelvis, and neck 10, 16, 60, 64. The number and distribution of the degrees of freedom provide the robot 1 several significant advantages over conventional robots. For example, positioning 77% of the degrees of freedom in the upper portion 2 of said robot 1 allows it to perform complex, dexterous tasks that could not be performed without a substantial majority of the degrees of freedom being positioned in said upper portion. As another example, minimizing the number of degrees of freedom in the central portion 3 allows the robot 1 to have a larger torso 16, which allows for the inclusion of a larger battery pack and additional computing power; thereby improving the performance and reliability of the robot 1. As a further example, including at least 5% of the degrees of freedom within the lower portion 4 of the robot 1 allows it to minimize the time and number of steps required for turning around, which allows the robot 1 to have more humanlike movements and increases the speed at which certain tasks can be accomplished. [0160] As shown in FIGS. 8-17, the 62 degrees of freedom of the inventive robot 1 are provided by a combination of 42 electric rotary and linear actuators (J1-J16), wherein an overwhelming majority (e.g., over 95%) of the actuators are electric rotary actuators as compared to linear actuators. In other words, the robot 1 only includes 2 linear actuators out of the 42 actuators contained in said robot 1. Of the 42 electric actuators, a majority (e.g., over 60%) are not configured to drive a linkage; instead, said actuators are designed to directly drive the next part(s) of the robot 1. In particular, linkages are coupled to: (i) 14 rotary actuators of said 40 rotary actuators, and (ii) all of the linear actuators. In other words, 35% of the rotary actuators and 100% of the linear actuators are coupled to a linkage. These linkages allow: (i) the fingers and thumb to be under-actuated, or in other words, the fingers and thumb retain their ability to flex, curl, or rotate around an object while eliminating the need for an actuator to control each joint or degree of freedom, (ii) the wrist to have two degrees of freedom that not only interact with one another, but are also substantially perpendicular to one another, and (iii) the foot to pivot around an axis that is located well forward (e.g., more than 10% of the overall length of the foot) of the center of the drive linkage. [0161] As shown in FIGS. 8, 22, 53, the 42 electric rotary and linear actuators can be classified into seven primary types, wherein the different types of actuators can be identified by the different types of stippling in each of these Figures. Five of the seven types have structures that are substantially similar, are assembled in a similar manner, and include a number of common components. These similarities and commonalities reduce the need for specialized parts, increase assembly speeds, minimize cost, and simplify debugging and documentation of the robot 1. As shown in these Figures and described in greater detail below, the seven types of actuators are not equally distributed within the robot 1. Instead, an unequal distribution is utilized throughout the robot 1. In particular, the upper portion of the robot 1 includes 12 actuators of a first kind (type 7), 8 actuators of a second kind (type 3), and 6 actuators of a third kind (type 5). As such, over 60% of the actuators in the robot 1 are actuator types 3, 5, 7, while under 40% of the actuators in the robot 1 are actuator types 1, 2, 4, 6. The similarities and commonalities of the various actuators and their unequal distribution provides substantial benefits to the robot 1 over conventional robots that lack these features and configuration. Additionally, the robot 1 only uses electric actuators, whereby the robot 1 lacks manual, hydraulic or pneumatic actuators. The use of only electric actuators: (i) reduces assembly, maintenance, weight and cost, and (ii) increases durability and safety considerations related to operating the robot 1 within or around other humans. [0162] An additional unique configuration of the disclosed robot 1 relates to the fact that the arm actuator 190 (J1), and specifically the arm axis A1 of the (J1) actuator, is positioned at an upward and rearward angle (e.g., more than 10 degrees) relative to the transverse plane PT and the coronal plane PC. This configuration places the singularity of the robot’s arm in a location that is outside of normal use for the tasks that the robot 1 is tasked with performing, as shown by FIG. 2. In addition, the arrangement of actuators contained within the central portion 3 of the robot 1 helps ensure that the leg of the robot 1 cannot be put in a singularity. Further, omitting an actuator that is dedicated to controlling the spine pitch or torso pitch (i.e., bending forward at the robot’s belly) reduces the number of actuators. Instead, the movement associated with pitching forward is controlled by the hips/legs of the robot 1. In other words, the robot 1 maintains the ability to bend forward or backward, but eliminates the need for including an actuator or multiple actuators to allow for the robot 1 to perform this movement. Moreover, several actuators are offset relative to one another to provide the robot 1 with the range of motions disclosed below. [0163] Unlike conventional robots, the hip flex actuator (J11) 720 is directly coupled to the pelvis 64 of the robot 1 and it is positioned closer to both the: (i) torso lean actuator (J9) 680, and (ii) torso twist actuator (J10) 620, then all other actuators. Additionally, the hip pivot actuator 768 (J12) is not directly connected to the pelvis 64; instead, it is directly connected to the hip flex actuator (J11) 720. By coupling the hip pivot actuator (J12) 768 to the hip flex actuator (J11) 720 at an angle (e.g., more than 10 degrees) relative to the transverse plane PT, the center of the actuator bearing 772.6 of the hip pivot actuator (J12) 768 is positioned below the center of the actuator bearings for each and every one of the following actuators: (i) the torso lean actuator (J9) 680, (ii) the torso twist actuator (J10) 620, and (iii) the hip flex actuator (J11) 720 (which also performs the spine Y, spine/torso pitch). This positional arrangement is beneficial because it increases the range of motion for the hip pivot actuator (J12) 768, allowing robot 1 to bend further down (e.g., deep squat) than needed to engage an object resting on the floor or a low shelf. Finally, the leg twist actuator (J13) 782 is positioned below all other actuators that perform hip or spine movements and is not directly coupled to the pelvis 64 of the robot 1. [0164] The various actuators are purposely spatially located and arranged in the robot 1 to provide it with a humanoid configuration and enable it to perform humanlike movements. The spacing between the actuators in the vertical direction enables said robot 1 to have a total or overall height that is less than 1700 mm, wherein the spacing between the actuators in the horizontal direction enables the robot 1 to have a wing span (as measured from fingertip to fingertip) that is greater than 1500 mm. Accordingly, the robot’s wing span (from fingertip to fingertip) is appreciably greater than the total height of robot 1. This configuration allows the robot 1 to reach items on a high shelf or over an object to pick up another object. In addition, the length of each arm, which extends between the outermost extents of the wrist actuators is less than 20% less than the length of each leg. a. Degrees of Freedom of the Robot [0165] A high level configuration of the rotational axes associated indicates a positional relationship of the actuators within the robot 1 may be determined based on the kinematic map, biomechanical model and/or the revised biomechanical model, as illustrated in FIGS. 8, 11, and 15. These positional relationships of the rotational axes (An) at least partially define the kinematic chains. Further, the arrangement of the individual actuators contained in the robot 1 may be defined positionally by the actuator bearings, where the actuator bearing plane (Bn) is centered on the rotational axis (An) of the individual actuator (Jn). The positions of the rotational axes (An) and/or actuator bearings may be defined positionally relative to one or more of the sagittal, coronal, or transverse planes (PS, PC, PT), when in the robot is in a static position (neutral or extended). [0166] As shown in FIG.8A, the high level configuration of a kinematic chain for each arm 5 includes seven rotational axes (A1-A7) from the torso 16 to the wrist 50 to providing seven DoF for the arm 5 to position the hand 56 of the robot 1, where A1 is located in the torso and A2-A7 are in the arm 5. Each hand further has sixteen DoF to further grasp or manipulate objects. As shown in FIG.53, the high level configuration of a kinematic chain for each leg 6 includes six rotational axes (A11-A16) from the hip 60 to the foot 92 providing six DoF to position the foot 92. Additionally, the central rotational axes (A9-A11) provide three DoF to position the torso 16 with respect to the legs 6, where the pair of hip rotational axes (A11) serve a dual purpose of rotating individual legs at the hip 60 and flexion/extension of the torso 16. Lastly, the head 10 includes rotational axes (A8.1, A8.2) for 2 DoF. Further, shown in FIG.8B, each hand 56 can have a plurality of rotational axes in each finger and thumb configured to grasp objects. [0167] The high level configuration of the robot 1 includes a total number of DoF that is greater than 30, preferably more than 45, most preferably more than 55, and approximately 62. Specifically, the total number of DoF of said humanoid robot are distributed within the robot 1 as follows: ● Upper Portion 2: 48 degrees of freedom (77% of the robot’s total DoF) o Head/Neck 10: 2 degrees of freedom (3% of the robot’s total DoF) o Upper Portion of the Torso 16: 2 degrees of freedom (3% of the robot’s total DoF) o Each Arm Assembly 5: 6 degrees of freedom (10% of the robot’s total DoF) □ Each Shoulder 26: 1 degree of freedom (1% of the robot’s total DoF) □ Each Upper Arm Assembly 24: 2 degrees of freedom (3% of the robot’s total DoF) □ Each Upper Humerus 30: 1 degree of freedom (1% of the robot’s total DoF) □ Each Lower Humerus/Elbow 36: 1 degree of freedom (1% of the robot’s total DoF) □ Each Lower Forearm 46: 2 degrees of freedom (3% of the robot’s total DoF) □ Each Wrist 50: 1 degree of freedom (1% of the robot’s total DoF) o Each Hand 56: 16 degrees of freedom (26% of the robot’s total DoF) □ Each Finger: 3 degrees of freedom (5% of the robot’s total DoF) □ Thumb: 4 degrees of freedom (6% of the robot’s total DoF) ● Central Portion 3: 10 degrees of freedom (16% of the robot’s total DoF) o Spine 60: 1 degree of freedom (1% of the robot’s total DoF) o Pelvis 64: 1 degree of freedom (1% of the robot’s total DoF) o Each Hip 70: 1 degree of freedom (1% of the robot’s total DoF) o Each Upper Thigh 76: 2 degrees of freedom (3% of the robot’s total DoF) o Each Lower Thigh 80: 1 degree of freedom (1% of the robot’s total DoF) ● Lower Portion 4: 4 degrees of freedom (6% of the robot’s total DoF) o Each Shin 84: 1 degree of freedom (1% of the robot’s total DoF) o Each Talus 88/Foot 92: 1 degree of freedom (1% of the robot’s total DoF) [0168] The distribution of degrees of freedom throughout the robot's structure may be designed to optimize its capabilities for performing human-like tasks. For example, positioning more than 65%, preferably more than 70%, most preferably more than 75%, and approximately 77% of the degrees of freedom in the upper portion 2 of said robot 1 may allow said robot 1 to perform dexterous tasks that could be challenging without a substantial majority of the degrees of freedom being positioned in said upper portion 2. Additionally, having a relatively small number of degrees of freedom within the central portion 3 may allow the robot 1 to have a larger torso volume. Furthermore, including less than 15%, preferably less than 10%, and approximately only 6% of the degrees of freedom within the lower portion 4 of the robot 1 may help minimize torque placed on the knees and hips. [0169] It should be understood that additional actuators, actuator bearings, and/or rotational axes may be added within the belly of the robot or in the hands. In other embodiments, said robot 1 may include fewer actuators, actuator bearings, and/or rotational axes. For example, the torso lean actuator (J9) 680, foot roll actuator (J16) 900, or an actuator located within the hand may be removed. However, it should be understood that the number/location of degrees of freedom associated with the disclosed humanoid robot materially and substantially differ from the number/location of degrees of freedom for a non-humanoid robot. As such, the number/location of degrees of freedom with non-humanoid robot cannot be simply adopted or implemented into a humanoid robot without careful analysis and verification of the complex realities of designing, testing, and manufacturing a general purpose humanoid robot. Theoretical designs that are an attempt to implement such modifications from a non-humanoid robot are insufficient (and in some instances, woefully insufficient) because they amount to mere design exercises that are not tethered to the complex realities of successfully of designing, testing, and manufacturing a general purpose humanoid robot. b. Range of Motion [0170] Based on the above analysis, the following table of the maximum and minimum angles of each actuator and their associated range of motion can be generated. It should be understood that the below angles and ranges of motion are exemplary and are provided to show the robot’s 1 ability to not only have a significant number of degrees of freedom (i.e., 62), but each degree of freedom is associated with a significant range of motion. This is in contrast to conventional robots that lack these large ranges of motion, which prevents said conventional robots from completing the complex humanlike tasks that the disclosed robot 1 can perform. However, said ranges of motion are not unnecessarily large to generate additional training and performance issues. Table 1 First Angle Second Range of P Preferred Preferred Actuator referred Angle Motion First Angle Second Range of Angle Motion JI -162 108 270 -148 99 247 J2 -129 48 177 -118 44 162 J3 -144 144 288 -132 132 264 J4 -162 18 180 -148.5 16.5 165 J5 -182 182 364 -176 176 352 J6 -54 54 108 -49.5 49.5 99 J7 -108 108 216 -99 99 198 J8.1 -108 108 216 -99 99 198 J8.2 -30 30 60 -27.5 27.5 55 J9 -36 36 72 -33 33 66 J10 -108 108 216 -99 99 198 J11 -192 42 234 -176 38 214 J12 -30 54 84 -27.5 49.5 77 J13 -108 108 216 -99 99 198 J14 -18 174 192 -16.5 159.5 176 J15 -72 48 120 -66 44 110 J16 -54 54 108 -49.5 49.5 99 [0171] It is understood that number/location of actuators, range of motion, and/or arrangement of axis of rotation associated with the disclosed humanoid robot materially and substantially differ from the number/location of actuators, range of motion, and/or arrangement of axis of rotation for a non-humanoid robot. As such, the structures, number/location of actuators, range of motion, and/or arrangement of axis of rotation associated with non- humanoid robot cannot be simply adopted or implemented into a humanoid robot without careful analysis and verification of the complex realities of designing, testing, and manufacturing a general purpose humanoid robot. Theoretical designs that are an attempt to implement such modifications from a non-humanoid robot are insufficient (and in some instances, woefully insufficient) because they amount to mere design exercises that are not tethered to the complex realities of successfully of designing, testing, and manufacturing a general purpose humanoid robot. c. Actuators [0172] Shown in at least FIGS. 8-18, the actuators contained within the physical robot 1 include actuators (J1-J16) housed within components of the robot 1 to actuate movement of the components of said robot 1. Below is a summary table showing the actuators reference names and numbers, actuator names, and associated components from high level configuration of the robot 1. In particular, the actuator bearing of individual actuators may help define the motion of the component or structure attached to the output driven by the individual actuators. Table 2 Actuator Bearing Actuator Actuator Name Actuator Axis Plane B, and (Actuator Bearings) J1 Arm Actu B1 (190) ator Arm Axis, A1 (194.12) J2 Shoulder Actuator Shoulder Axis, A B2 (280) 2 (248.6) J3 Upper Arm Twist, Upper Arm Upper Arm Twist, Upper Arm B3 (320) X, or Upper Arm Roll Actuator X, or Upper Arm Roll Axis, A3 (324.6) J4 Elbow, Arm Z, Arm Yaw, or Elbow, Arm Z, Arm Yaw, or B4 (374) Lower Humerus Actuator Lower Humerus Axis, A4 (378.6) J5 Lower Arm Twist, Lower Arm Lower Arm Twist, Lower Arm B5 (468) X, or Lower Arm Roll Actuator X, or Lower Arm Roll Axis, A5 (472.6) J6 Wrist Flex, Wrist/Hand Y, Wrist Flex, Wrist/Hand Y, Wrist B6 (484) /Hand Pitch, or Flick Wrist/Hand Pitch, or Flick Axis, Actuator A (488.6) 6 J7 Wrist Pivot, Wrist/Hand Z, Wrist Pivot, Wrist/Hand Z, Wrist/Hand Yaw, or Wav B7 (520) e Wrist/Hand Yaw, or Wave Actuator Axis, A7 (524.6) J8.1 Head Twist, Head No, or Head Twist, Head No, or First B8.1 (120) First Head Actuator Head Axis, A8.1 (124.6) J8.2 Head Nod, Head Yes, or Head Nod, Head Yes, or Second B8.2 (140) Second Head Actuator Head Axis, A8.2 (144.6) J9 Torso Lean, Spine X, Torso Lean Actuator, Spine X, Torso/Spine Roll, or First Spin B9 (680) e Torso/Spine Roll, or First Spine Actuator Axis, A (684.6) 9 J10 Torso Twist, Spine Z, Torso Twist, Spine Z, Torso B10 (620) /Spine Yaw, or Second Torso/Spine Yaw, or Second Spine Actuator Spine Axis, A10 (624.6) J11 Hip Flex, Hip Y, Hip/Leg Pitch, Hip Flex, Hip Y, Hip/Leg Pitch, B11 (720) Forward Kick, or First Hip Forward Kick, or First Hip Actuator Axis, A11 (724.6) J12 Hip Pivot, Hip X, Hip/Leg Roll, Hip Pivot, Hip X, Hip/Leg Roll, Sidewa B12 (768) ys Kick, or Second Hip Sideways Kick, or Second Hip Actuator Axis, A (772.6) 12 J13 Leg Twist, Hip Z, or Leg Twist, Hip Z, or Hip/Leg B13 (782) Hip/Leg Yaw Actuator Yaw Axis, A13 (786.6) J14 Knee, Lower Thigh, Lower Leg Knee, Lower Thigh, Lower Leg Y, Lower Leg Pitch, or Rear Y, Lower B14 (820) Leg Pitch, or Rear Kick Actuator Kick Axis, A14 (824.6) J15 Foot Flex, Foot Y, Foot Pitch, or Foot Flex, Foot Y, Foot Pitch, (860) First Ankle Actuator or First Ankle Axis, A15 N/A J16 Talus, Foot Roll, Foot X or Talus, Foot Roll, Foot X or B16 (900) Second Ankle Actuator Second Ankle Axis, A16 (904.6) [0173] The high-level configuration or model of the robot 1, the developed or revised biomechanical model, and selected or defined range of motion requirements can be implemented using one or a combination of mechanical stops, software limits, and/or sensor- based monitoring systems. Mechanical stops integrated into the joint designs physically limit motion, preventing over-extension or collisions, and may be adjustable or replaceable to suit specific applications. Software limits within the control system may dynamically restrict joint movements to predefined ranges, adapting in real-time based on the arm's configuration, task requirements, or environmental constraints. Said software limits may be determined using inverse kinematics algorithms to calculate allowable joint angles and velocities. Sensor-based monitoring systems may also be used to continuously assess the systems, assemblies, components and/or part’s position, velocity, and applied forces using integrated load cells, encoders, and inertial sensors to detect anomalies or potential hazards. In response to unexpected loads, collisions, or joint limit violations, the control system can initiate emergency stop procedures or switch to a compliant mode to mitigate risk d. Commonality of Actuator Types [0174] As noted above, the majority of actuators in the robot 1 are selected from types of similar actuators. Shown coded with selected stipple patterns in FIGS.8, 11, 15, (i) a first type of actuator includes hip flex actuator (J11) and knee actuator (J14); (ii) a second type of actuator includes torso lean actuator (J9), torso twist actuator (J10), hip pivot actuator (J12), and leg twist actuator (J13); (iii) a third type of actuator includes arm actuator (J1), shoulder actuator (J2), upper arm twist actuator (J3), and elbow actuator (J4); (iv) a fourth type of actuator includes the talus actuator (J16); and (v) a fifth type of actuator includes lower arm twist actuator (J5), wrist flex actuator (J6), and wrist pivot actuator (J7). The head actuators J8.1- J8.2 may also be a fifth type of actuator with a modified housing and/or drive size. As will be discussed in further detail, the first through fifth type may include brushless DC motors with a strain wave gearbox. Commonality between the actuators beneficially reduces costs, reduces assembly time, reduces unique parts that are required, decreases debugging time, and increases modularity and serviceability. In fact, said commonality extends to the fact that the first through the fourth types of actuators have an identical arrangement of components and the first three types of actuators may utilize the exact same electronics. [0175] The primary difference in the five common actuators is a change in drive size from first to fifth type. Correspondingly, the actuator bearing size for each type is configured for a range of loads and configured to produce torque maneuver one or more components in a kinematic chain. For example, the modified fifth type of actuator (J8.1, J8.2) for the head 10 may have the same actuator bearing as the fifth type of actuator (J5-J7) for the lower arm, with different torque ratings and/or housing structures. While the housing of the individual actuator types may also vary, the assembly of each type of actuator is substantially similar. Additionally, a sixth type of actuator in the lower leg may be a linear actuator with a rotational axis (A15) shifted to the ankle. In alternative embodiments, the sixth type of actuator in the lower leg may be a rotary actuator sized to match one of the common actuator types. Further, a seventh type of actuator may be used in the hands and configured to provide at least 16 DoF in each hand 56. [0176] The placement and torque of the different types of actuators for robot 1 is outlined in the table below. In alternative embodiments, the various actuator types may be arranged differently within the alternative robot (e.g. J1 or J12 may be assigned a different actuator type) and/or different torque may be selected for the actuator types, while keeping the commonality of the actuators to reduce the number of unique parts. Table 3 Actuator Actuator Momentary Peak Preferred Momentary Type Torque (N-m) Peak Torque (N-m) 1 J11 (720) J14 (820) 265.6-398.4 298.8-365.2 J9 (680) 2 J10 (620) J12 (768) 101.6-152.4 114.3-139.7 J13 (782) J1 (190) 3 J2 (280) J3 (320) 72.8-109.2 81.9-100.1 J4 (374) 4 J16 (900) 96-144 108-132 J5 (468) 5 J6 (484) 17.6-26.4 19.8-24.2 J7 (520) 5a J8.1 (120) J8.2 (140) 72.8-109.2 81.9- 100.1 6 J15 (860) linear 96-144 108-132 7 Hands 3.1-4.7 3.5-4.3 [0177] It should be noted that the actuators (J1)-(J16) may utilize a range and/or combination of advanced motor types, including brushless DC motors, stepper motors, servo motors, coreless DC motors, synchronous AC motors, asynchronous induction motors, linear motors, piezoelectric motors, direct-drive motors, switched reluctance motors, permanent magnet synchronous motors (PMSMs), axial flux motors, and hybrid stepper motors. These motors may employ rare-earth permanent magnets, such as neodymium-iron-boron (NdFeB) alloys, samarium-cobalt (SmCo) magnets, ferrite magnets, alnico magnets, flexible magnets, bonded rare-earth magnets, and high-temperature permanent magnets, to achieve high torque density and energy efficiency. Motor windings may include high-conductivity copper wire with advanced ceramic or polyimide insulation for superior thermal and electrical performance. The motors may be coupled with various high-reduction gear mechanisms designed for precision and load handling, such as strain wave gearboxes (e.g., Harmonic drives), cycloidal reducers, planetary gearboxes, bevel gear systems, worm gears, parallel shaft helical gear mechanisms, spur gear assemblies, crossed helical gear systems, double-enveloping worm gears, herringbone gears, hypoid gears, rack-and-pinion systems, bevel hypoid gears, epicyclic gear trains, and differential gear systems. Additionally, some implementations may incorporate custom gear profiles optimized for torque transfer efficiency, backlash reduction, and noise minimization. [0178] Examples of these alternative combinations include the arm actuator (J1) 190 or the shoulder actuator (J2) 280 utilizing a synchronous reluctance motor (SynRM) coupled with a compound planetary gearbox. In contrast, the wrist pivot actuator (J7) 520 might employ a coreless DC motor paired with a strain wave gearbox. This system could achieve reduction ratios in the range of 1:50 to 1:160, depending on the specific performance requirements. For actuators requiring a balance between speed and torque, such as the elbow actuator (J4) 374, a hybrid stepper motor combined with a cycloidal drive might be employed. This combination could achieve reduction ratios (1:30 to 1:87), offering a good compromise between speed and force. [0179] In applications where back drivability is useful, such as in the knee actuator (J14) 820, a direct drive torque motor might be used in conjunction with a cable-driven differential mechanism. The cable system could be designed to achieve modest reduction ratios (e.g., 1:5 to 1:15) while maintaining high efficiency and low friction. For joints requiring extreme precision, like the head nod actuator (J8.2) 140, a closed-loop stepper motor system coupled with a micro-harmonic drive could be implemented. This configuration allows for micro- stepping capabilities and ultra-high reduction ratios (potentially exceeding 1:1000), enabling very fine angular adjustments. In scenarios where weight reduction is paramount, such as in distal joints like the wrist flex actuator (J6) 484, a flat or pancake-style brushless DC motor might be combined with a strain wave gearbox. This ultra-compact design could achieve reduction ratios from 1:50 to 1:160 while minimizing the added mass at the end of the arm assembly. For actuators that experience widely varying loads, like the hip flex actuator (J11) 720, a variable transmission system could be employed. This might involve a continuously variable planetary (CVP) gearbox coupled with a high-torque AC servomotor. The CVP allows for dynamic adjustment of the reduction ratio (e.g., from 1:1.5 to 1:120) based on real-time load conditions, optimizing performance across different operating scenarios. [0180] In applications requiring high power density and thermal management, such as the torso twist actuator (J10) 620, a liquid-cooled axial flux permanent magnet motor could be paired with a multi-stage epicyclic gearbox. This setup allows for high continuous torque output while achieving reduction ratios up to 1:500 or more through the cascaded planetary stages. For joints that benefit from inherent compliance, like the foot roll actuator (J16) 900, a series elastic actuator (SEA) configuration might be used. This could involve a standard brushless DC motor coupled with a ball screw mechanism and a torsional spring element. The effective reduction ratio of this system can vary based on the spring stiffness and ball screw pitch, potentially ranging from 1:10 to 1:100. In scenarios where extremely high reduction ratios are required, such as in a fine manipulation end-effector, a combination of different gearing types might be employed. For example, a worm gear (providing a reduction of 1:50) could be coupled with a cycloid reducer (1:87 reduction), resulting in a compound reduction ratio of 1:4350. [0181] Additionally, to achieve exceptional positional accuracy and ensure reliable operation, each motor may be equipped with advanced encoders, which could be optical, magnetic, capacitive, inductive, resistive, piezoelectric, hall-effect, potentiometric, or ultrasonic. These encoders may facilitate sub-millimeter-level accuracy, critical for applications requiring meticulous movement control. To complement positional data, said actuator may include integrated torque sensors that have strain gauges, piezoresistive sensors, magnetoelastic sensors, capacitive sensors, fiber-optic sensors, or rotary transformers. Additionally or alternatively, the actuators may include current sensors, such as Hall-effect sensors, shunt resistors, fluxgate sensors, Rogowski coils, or magnetoresistive sensors. Furthermore, the system may incorporate micro-electromechanical systems (MEMS) gyroscopes and/or accelerometers, which provide additional sensory data related to orientation, angular velocity, and linear acceleration. This sensory integration enhances the robot's ability to navigate complex environments and maintain stability during operation. [0182] Further, the actuators or the output of the actuators may include bearing housings constructed using advanced materials like carbon-fiber-reinforced polymers (CFRPs), fiberglass-reinforced polymers (FRPs), metal alloys, polyetheretherketone (PEEK), thermoplastic composites, and ultra-high-molecular-weight polyethylene (UHMWPE). Additionally, the manufacturing processes for CFRPs, such as filament winding or automated fiber placement, allow for precise control over fiber orientation, further optimizing the mechanical performance of the housings. The bearings themselves can be fabricated from, include, or processed using high-grade steel alloys (e.g., AISI 52100, M50, or 440C stainless steel), high-performance nickel-based superalloys (e.g., Inconel 718 or Hastelloy), cobalt- based alloys (e.g., Stellite), advanced ceramics (e.g., alumina or zirconia-based composites), and polymer matrix composites reinforced with carbon or aramid fibers. These materials may also benefit from advanced heat treatments (e.g., vacuum hardening or cryogenic treatment), surface engineering processes (e.g., ion implantation or physical vapor deposition), or specialized coatings. [0183] To further optimize performance, the rolling elements of the bearings may be composed of advanced ceramic materials (e.g., silicon nitride, tungsten carbide, or zirconia), sapphire, or composite materials combining ceramic with metal or polymer matrices. In another embodiment, the assembly may incorporate cylindrical roller bearings, angular contact ball bearings, or hybrid bearings that combine steel races with ceramic rolling elements. Additionally, spherical roller bearings, tapered roller bearings, needle roller bearings, magnetic bearings, or hybrid or combinations thereof. Cutting-edge manufacturing techniques, including additive manufacturing methods like selective laser melting (SLM), could be employed to create complex bearing geometries. These geometries may integrate features such as internal cooling channels, lubrication reservoirs, or textured surfaces to enhance lubrication retention and minimize wear. [0184] The incorporation of such features allows for improved thermal management, reduced friction, and consistent lubrication distribution, even under challenging operating conditions. Additive manufacturing also enables the production of customized bearing designs with minimal material waste, aligning with sustainable manufacturing practices. In addition to additive manufacturing, other advanced processes like precision machining, laser hardening, or chemical vapor deposition (CVD) coatings may be applied to enhance the surface properties of the bearings. These techniques can improve wear resistance, reduce friction, and provide protection against corrosion, further extending the operational life of the components. The integration of smart sensors within the bearing housing is another potential enhancement, allowing for real-time monitoring of parameters such as temperature, vibration, and load. This data can be used to predict maintenance needs and prevent unexpected failures, ensuring optimal performance and reliability in critical applications. e. Compound Movements [0185] As can be understood, the robot 1 with 62 DoF can be maneuvered into a multitude of positions by manipulating one or more kinematic chains of the robot 1. As discussed above, the robot 1 can utilize a plurality of movements to perform the same task. In an example, a robot 1 tasked with picking up a bin from the ground could (i) bend the torso forward at the hips, (ii) bend at the knees to lower the position of the torso, or (iii) combine movements of the bending the torso forward and bending at the knees. FIGS. 2A-2I show examples of three different bending positions that coordinate actuation of multiple actuators to position the robot to pick up the bin. Each example bending position may result in the robot holding the bin in a different manner, based on the position of the arms and hands, to lift the bin to another evaluation. [0186] FIGS. 2A-2C show a first bending position example for picking up a bin from the ground. The robot may start from a neutral standing position and bend the torso 16 at the hips 60 with a flexion pitch movement about axes A11 of both the left and right hip flex actuators (J11). The arms 5 can be positioned downward with movement about axis A1, or A1 and A2. For example, the entire arm 5 may be position downward by the arm actuators (J1), and the shoulder actuators (J2) can move the arms 5 laterally outward slightly to position the hands 5 at a distance to hold the bin. In some examples, for a wider bin, the elbow actuator J4 and/or wrist actuators (J5-J7) can be utilized to further position the hands 56 to hold the bin. [0187] FIGS.2D-2F show a second bending position example for picking up a bin from the ground. The robot 1 may start from a neutral standing position and squat to pick up the bin. In this example, the torso 16 of the robot may maintain a substantially vertical orientation, with the robot bending at the hips (J11), knees (J14), and ankles (J15). In order to reach this low squatting position, the robot 1 can use the hip pivot actuators (J12) to rotate the legs 6 laterally on each side to avoid interference with other components. The arms 5 can be rotated upwards with the arm actuators (J1) to position the hands. In some examples, for a wider bin, the elbow actuator J4 and/or wrist actuators (J5-J7) can be utilized to further position the hands 56 to hold the bin. [0188] FIGS. 2G-2I show a third bending position example for picking up a bin from the ground. This position is a combination of the first and second positions, where the robot 1 bends the torso 16 forward with a flexion pitch movement about axes A11 of both the left and right hip flex actuators (J11) and also bend at the knees (J14) without moving to a full squatting position. Similar to the second bending position, the hip pivot actuators (J12) can rotate the legs 6 laterally on each side to allow clearance for the torso 16 to be positioned therebetween without interference. In this position the torso 16 may be in contact or close to contact with the legs 6. The arms can be rotated forward at the arm actuator (J1) and/or any combination of arm actuators can position the hands to pick up the bin. As can be understood, these three example bending positions are only a sample of the multitude of combinations of actuator and component positions that can be used to do the same task. [0189] While the above bending examples demonstrate substantially symmetrical positions to complete a task, FIGS. 2J-2L illustrate asymmetrical positions of the arms 5. In particular, cross body positions are shown where the left arm is above the right arm. As such, the various actuators of the left arm are positioned differently than the right arm. 5. Components of the Physical Robot [0190] A physical robot 1 can be manufactured from the complete robot or robot model. The robot model, and likely the physical robot 1, may include the following systems, assemblies, components and/or parts. The robot 1 can have upper, central, and lower portions as illustrated by planes PUC and PCL shown in FIGS.11A, 12, 13. In particular the illustrative robot 1 includes (i) an upper portion 2 having the following parts: (a) a head/neck 10, (b) a torso 16, (c) left and right shoulders 26a, 26b, (d) left and right arm assemblies 5a, 5b that each include an upper humerus 30a, 30b, lower humerus 36a, 36b, upper forearms 40a, 40b, and lower forearms 46a, 46b, (e) left and right wrists 50a, 50b, and (f) left and right hands 56a, 56b, (ii) a central portion 3 having the following parts: (a) a spine 60, (b) a pelvis 64, (c) left and right hips 70a, 70b, (d) left and right upper thighs 76a, 76b, and (e) left and right lower thighs 80a, 80b, and (iii) a lower portion 4 having the following parts: (a) a left and right shins 84a, 84b, (b) left and right talus 88a, 88b, and (c) left and right feet 92a, 92b. It should be understood that in other embodiments, some of these systems, assemblies, components and/or parts may be omitted, combined, or replaced with alternative systems, assemblies, components and/or parts. a. Robot Torso [0191] The robot's torso 16 may function as a central hub, housing components such as the arm actuators (J1) 190, computing devices (e.g., processors, GPUs and/or CPUs), power supply/distribution, and various sensors. The torso 16 may have a quasi-trapezoidal prism configuration, wherein the frontal extent of the torso 16 may be substantially smaller than the back extent of the torso 16 and the shrouds that extend between the frontal extent and back extent may be angled in relation to one another. This quasi-trapezoidal prism configuration may help increase the robot's range of motion and, specifically, its ability to reach across its body. The torso 16 may have a volume greater than 19 liters and an uninterrupted height greater than 250 mm, preferably over 300 mm. This increased volume may allow for the inclusion of a battery that is over 6L and a computing volume of over 2.5L. Accordingly, said robot 1 may include a battery that is over 2.5 kWh and may provide a run time that is over 4 hours and preferably over 6 hours. [0192] The torso 16 of the robot 1 may incorporate an arrangement of actuators and structural components designed to enable complex, human-like movements while maintaining stability and efficiency. As such, the torso 16 may include an open that is configured to receive a substantial majority of the arm actuators (J1) 190 within said torso 16. Preferably, a majority of the left arm actuator (J1) 190 is positioned within the external surface of the torso. The mounting of the arm actuators (J1) 190 places the axis A1 of arm actuator (J1) 190 may be angled upward between 1 and 45 degrees (in some cases between 10 and 20 degrees) relative to the transverse plane PT and rearward between 1 and 45 degrees (in some cases between 10 and 20 degrees) relative to the coronal plane PC. This orientation may allow the arm to achieve a range of motion similar to human shoulder movements, which attempts to avoid placing the associated singularity of the arm assembly 5 in a heavily used area. It should be understood that other angles and positions of the arm actuators (J1) 190 are contemplated by this application. FIG.19 illustrates potential angles of axis A1, where A1’ may be angled rearward between 1 and 45 degrees (in some cases between 10 and 20 degrees) relative to the coronal plane PC and A’’’ may be angled forward between 1 and 45 degrees (in some cases between 10 and 20 degrees) relative to the coronal plane PC. For example, an alternative axis A1’’ of arm actuator (J1) 190 may be parallel with the coronal plane PC. A range of other alternative orientations are illustrated in FIGS.22A-22B. [0193] The output of each arm actuator (J1) 190 may be connected to its respective arm assembly 5 via a specialized mechanical interface designed for durability and precision. This interface may integrate various types of high-performance bearings including cross-roller bearings or any other bearing disclosed herein. To ensure a robust and reliable connection, the coupling mechanism between the actuator output and the arm assembly 5 may utilize splined shafts, polygon couplings, Oldham couplings, bellows couplings, jaw couplings, universal joints, magnetic couplings, and flexure couplings, which provide high torque transmission efficiency and precise alignment. Additionally, damping elements, such as elastomeric bushings, may be incorporated to absorb vibrations and reduce mechanical stresses. b. Robot Arm Assembly [0194] Extending from the arm actuator (J1) 190, each arm assembly 5 may comprise a series of interconnected components having actuators, including a shoulder 26, upper humerus 30, lower humerus 36, upper forearm 40, lower forearm 46, wrist 50, and hand 56. In particular, the arm assembly 5 that is coupled to the arm actuator (J1) 190, may include: (i) the shoulder 26 having a shoulder actuator (J2) 280, (ii) an upper arm assembly 24 having an upper humerus 30 with an upper arm twist actuator (J3) 320, and a lower humerus 36 with an elbow actuator (J4) 374, (iii) a lower forearm 46 with a lower arm twist actuator (J5) 468 and a wrist flex actuator (J6) 484, and (iv) a wrist 50 with a pivot actuator (J7) 520. [0195] The shoulder 26 forms the connection between the torso 16 and the upper arm assembly 24 and includes a shoulder housing 270. Said housing 270 may be designed with internal reinforcement structures, materials (e.g., metal alloys), cooling channels, heat sinks, and/or any material, structure, component, assembly, part, or described above. The shoulder actuator (J2) 280 is positioned within the housing 270 and may utilize any motor, gearbox, sensors, bearings, encoders, and/or other components or parts that are discussed below in the actuator section. The axis A2 of the shoulder actuator (J2) 280 is upwardly angled relative to the transverse plane PT. In particular, the upward angle may be between 20 and 70 degrees, preferably 35 and 55 degrees, and most preferably 45 degrees. For example, various example of axis positions are show in FIG.20, where alternative axis A2’ may be perpendicular to the transverse plane PT, alternative axis A2’’ may be about 20-40 degrees upwardly angled relative to the transverse plane PT, and alternative axis A2’’’ may be downwardly angled between 20 and 70 degrees relative to the transverse plane PT. [0196] The upper humerus 30 forms a connection between the shoulder 26 and lower humerus 36 and includes an upper humerus housing 302. Said housing 302 may be designed with internal reinforcement structures, materials (e.g., metal alloys), cooling channels, heat sinks, and/or any material, structure, component, assembly, part, or described above. The upper arm twist actuator (J3) 320 is positioned within the housing 302 and may utilize any motor, gearbox, sensors, bearings, encoders, and/or other components or parts that are discussed below in the actuator section. The upper arm twist actuator (J3) 320 is coupled to an extent of the lower humerus 36, potentially through a keyed interface or splined shaft that ensures proper alignment and efficient torque transmission. This connection point may also incorporate compliance mechanisms such as elastomeric bushings to absorb sudden impacts or overloads. [0197] The lower humerus 36 includes the elbow actuator (J4) 374 within a lower humerus housing 362 and couples the lower humerus 36 and upper forearm 40. Said housing 362 may be designed with internal reinforcement structures, materials (e.g., metal alloys), cooling channels, heat sinks, and/or any material, structure, component, assembly, part, or described above. The elbow actuator (J4) 374 is positioned within the housing 362 and may utilize any motor, gearbox, sensors, bearings, encoders, and/or other components or parts that are discussed below in the actuators sections that are optimized for elbow movements. The elbow actuator (J4) 374 may be coupled to an extent of the upper forearm 40, and potentially through a keyed interface or splined shaft that ensures proper alignment and efficient torque transmission. This connection point may also incorporate compliance mechanisms such as elastomeric bushings or torsional springs to absorb sudden impacts or overloads. [0198] The lower forearm 46 may be coupled to the upper forearm 40 and house two actuators that provide additional degrees of freedom for wrist 50 movements. The lower arm twist actuator (J5) 468 may be positioned within the housing 462 of the lower forearm 46. This lower arm twist actuator (J5) 468 may enable pronation and supination movements of the wrist 50, which may be useful for tasks requiring reorientation of the hand 56. The housing 462 may feature a design that mimics human arm contours while providing mounting points for external sensors or tools. The robot 1 may also include a wrist flex actuator (J6) 484 that is contained within the lower forearm housing 462. Unlike the other actuators which directly couple to the next segment, the wrist flex actuator (J6) 484 may utilize a drive linkage to transmit force to the wrist 50. This linkage system may incorporate ball joints or universal joints to allow for complex, multi-axis movements while maintaining a compact form factor. It should be understood that the lower arm twist actuator (J5) 468 may be the wrist flex actuator (J6) 484 and may utilize any motor, gearbox, sensors, bearings, encoders, and/or other components or parts that are discussed below in the actuators sections that are optimized for these movements. [0199] The final segment of the arm assembly 5 may be the wrist 50, which may contain the wrist pivot actuator (J7) 520. This actuator may be housed within the structure 502 of the wrist 50 and provides the last degree of freedom before the hand or end effector 56. The wrist 50 may be coupled directly to an extent of the hand 56, and potentially through a quick-release mechanism that allows for the quick replacement of the hand or end effector 56. As shown in Figs. 8B and 11B, the end effector 56 may include more than 3 DoF, preferably more than 7 DoF, and most preferably more than 12 DoF, and may have approximately 16 DoF. [0200] The arrangement and orientation of these actuators within the arm assembly 5 may allow a wide range of motion while avoiding singularities and maximizing manipulability. Relative positions of the actuators in the following description refer to the arm assembly in the extended position, where the arms are extended outward laterally at the shoulder and oriented with the palms of the hands facing forward and the fingers pointing in a substantially outward direction. In this position, the arms are substantially parallel to the transverse plane. Specifically, a common chord may be colinear with both A3 and A5 of actuators J3 and J5 and substantially parallel to the transverse plane. [0201] As detailed in FIGS.8, 11, 22, the rotational axes of these actuators (A1 through A7) may be arranged to create an optimal kinematic chain. The axis A1 of the arm actuator (J1) 190 and axis A2 of the shoulder actuator (J2) 280 may be angled relative to one another and to the subsequent axes A3-A7 of actuators (J3-J7) 320, 374, 468, 484, 520. This non-orthogonal arrangement may contribute to the arm's dexterity and workspace. The axis A2 of the shoulder actuator (J2) 280 may be angled upward between 20 and 70 degrees (in some cases around 45 degrees) relative to the transverse plane PT. This inclination may be useful for expanding the arm's workspace and allowing for overhead reaching motions. In some aspects, while axis A2 may be angled relative to many other axes in the robot 1, a vertical plane containing axis A2 may be perpendicular to a horizontal plane containing axis A3. This geometric relationship may help ensure that the shoulder and upper arm movements remain coordinated and biomimetic. The non-orthogonal arrangement of these axes positions the arm's kinematic singularities away from the most common working positions. [0202] The spatial arrangement and dimensional relationships between the actuators (J3) 320, (J4) 374, and (J5) 468 in the arm assembly 5 of the robot 1 may help achieve a biomimetic design that closely emulates human arm functionality while optimizing for robotic performance. As illustrated in FIGS.11 and 24, the axis A3 of the upper arm twist actuator (J3) 320 and the axis A5 of the lower arm twist actuator (J5) 468 may be co-linear, creating a continuous rotational axis that extends through the length of the arm 5. In some embodiments, these axes A3, A5 may not be co-linear; instead said axes may be offset from one another. Said offset may cause the axes A3, A5 to be parallel with one another in some embodiments, and not parallel in other embodiments. [0203] As shown in FIG. 25, the actuator bearing 324.6 of the upper arm twist actuator (J3) 320 may be at least 10% larger, preferably at least 25% larger, and most preferably approximately 40% larger in radius than the actuator bearing 472.6 of lower arm twist actuator (J5) 468. This size differential may address specific mechanical and functional requirements: the larger bearing 324.6 in the upper arm twist actuator (J3) 320 may accommodate higher torque loads typically encountered in the upper arm 30, while the smaller bearing 472.6 in the lower arm twist actuator (J5) 468 may facilitate a more compact and slender forearm design. This tapered configuration enhances the anthropomorphic appearance of the arm and reduces the moment of inertia, enabling faster and more energy-efficient movements during high- velocity operations. [0204] The elbow actuator (J4) 374 may introduce an offset in the kinematic chain of the arm assembly 5, with its axis A4 oriented perpendicular to both A3 and A5. This orthogonal configuration may mimic the primary degree of freedom of the human elbow, enabling flexion and extension motions. As shown in FIG. 24, the center of the actuator bearing 378.6 of the elbow actuator (J4) 374 may be offset from the axis connecting upper arm twist actuator (J3) 320 and lower arm twist actuator (J5) 468 by at least 1 mm, and preferably between 5 mm to 10 mm along the X-axis, representing 14% to 28% of the radius for actuator bearing 378.6 of elbow actuator (J4) 374. This offset may facilitate the hyperextension capability of the elbow joint, potentially enabling a -15-degree positioning angle, and may improve the arm's versatility in confined spaces and tasks requiring backward reach. Structural accommodations, such as recessed areas in the lower humerus and upper forearm, may ensure that hyperextension does not compromise mechanical integrity. As an alternative, actuator bearing 378.6 of elbow actuator (J4) 374 may not be offset and/or the elbow joint could employ spherical plain bearings to allow multi-axis rotation and provide additional flexibility. The actuator bearing plane B4 is positioned along the mid-width of actuator bearing 378.6 and may be offset along the Z-axis from the center of axes A3 and A5 by more than 10 mm and preferably more than 30 mm, equivalent to 70% of the radius of actuator bearing 324.6 of the upper arm twist actuator (J3) 320. This Z-axis offset may contribute to the humanoid appearance of the arm assembly, potentially aligning the upper humerus with the lower forearm to replicate natural human arm proportions. Also, the deliberate reduction in the size of actuator bearing 472.6 of the lower arm twist actuator (J5) 468 to less than 60% of radius of the actuator bearing 324.6 may help create a more slender forearm profile. [0205] The spatial arrangement of actuators (J5-J7) 468, 484, 520 within the arm assembly 5 of robot 1 represents a sophisticated kinematic design that optimizes functionality, range of motion, and biomimetic properties. As illustrated in FIGS.24-29, the axis A5 of the lower arm twist actuator (J5) 468 is perpendicular to the axis A7 of the wrist pivot actuator (J7) 520. This design allows for independent control of forearm rotation and wrist pivoting, enabling complex manipulations that closely mimic human wrist movements. Additional alternatives to this configuration could include the use of non-orthogonal axes to create asymmetric rotational ranges. [0206] Shown in FIG.25, the positioning of these actuators (J5-J7) 468, 484, 520 is further refined by a predefined offset along the Z-axis. Specifically, the actuator bearing plane B7 which is positioned mid-width of actuator bearing 524.6 of lower arm twist actuator (J5) 468, is offset from the center of axis A5 of lower arm twist actuator (J5) 468 by a distance of at least 1 mm and preferably between 10 mm (40% of the radius of actuator (J6) 484's actuator bearing 488.6) and 20 mm (80% of the radius of actuator (J6) 484's actuator bearing 488.6). This offset serves multiple purposes. It allows for a more compact wrist design and provides enhanced mechanical clearance, and facilitates the integration of additional components such as sensors or actuation feedback systems. Variations of this configuration could include: (i) dynamic offset adjustment mechanisms, utilizing actuated spacers or adaptive housing structures, (ii) flexible couplings or compliant interfaces within the offset mechanism to absorb vibrations and improve durability in high-stress applications, and/or (iii) any other structure or mechanism disclosed herein. [0207] The non-alignment of axes A5 and A7 enhances the arm's dexterity. By offsetting these axes, robot 1 can achieve a wider range of wrist positions without encountering mechanical interference between components. Variations of this design could include adjustable offsets using modular joints, incorporating telescopic mechanisms or angular adjustment modules that allow dynamic realignment of the axes during operation, and/or passive compliance mechanisms, such as elastomeric or spring-damper systems. [0208] An apparent feature of this design is the alignment relationship between the actuator bearing plane B7 of wrist pivot actuator (J7) 520 and the actuator bearing plane B4 of elbow actuator (J4) 374. As shown in FIG.25, these planes are substantially aligned and may be co- planar, with axis A4 of the elbow actuator (J4) 374 aligned with axis A7 of actuator (J7) 520. This alignment creates a kinematic linkage between the elbow and wrist movements, potentially allowing for more natural and coordinated arm motions. The spatial relationship between elbow actuator (J4) 374 and wrist pivot actuator (J7) 520 is such that if the actuator bearing of (J4) 374 were translated along the Y-axis by just over 225 mm, moved rearward along the X-axis by between 5 and 10 mm, and reduced in size by approximately 25%, it would occupy nearly the identical position as wrist pivot actuator (J7) 520. This relationship may facilitate simplified control algorithms and more intuitive motion planning for complex arm movements. [0209] The wrist flex actuator (J6) 484 introduces additional complexity and functionality to the wrist assembly. Its axis A6 is perpendicular to both axis A5 of the lower arm actuator (J5) 468 and axis A7 of wrist pivot actuator (J7) 520, creating a three-dimensional rotational capability that closely mimics the human wrist's range of motion. The center of actuator bearing 488.6 of actuator (J6) 484 is strategically offset from the axis connecting the centers of actuator bearings 472.6, 524.6 of actuators (J5) 468 and (J7) 520. This offset is at least 1 mm and preferably between 10 mm to 20 mm (40% to 80% of the radius of actuator bearing 488.6) along the X-axis. The wrist flex actuator (J6) 484 is forward of both the lower arm twist actuator (J5) 468 and the wrist pivot actuator (J7) 520, which allows for the early coupling of the drive linkage to an outer extent of the wrist 50. This configuration may enable a greater range of wrist flexion and extension while maintaining a compact form factor. The drive linkage, which may be composed of high-strength materials such as metal alloys, carbon fiber reinforced polymers, or advanced thermoplastics like PEEK, can efficiently transmit force from the actuator to the wrist joint while accommodating the complex rotational movements of the wrist assembly. Additionally, the drive linkage may incorporate integrated torque and position sensors, providing real-time feedback to the control system for enhanced precision and adaptability. [0210] The overall arrangement of actuator axes A3, A5, and A7 along a common chord creates a unified kinematic chain through the arm. Axis A3 and axis A5 are co-linear, providing a continuous rotational axis for arm twisting movements, while axis A7 is perpendicular to axis A3 and axis A5, enabling wrist pivoting. This configuration allows for smooth, coordinated movements that can seamlessly transition between different arm postures. In alternative designs, additional actuators or passive compliance mechanisms could be integrated along these axes to provide enhanced adaptability or energy efficiency during operation. For example, spring-loaded mechanisms or dampers could be used to minimize energy consumption during repetitive tasks. The forward offset of axis A4 from the common chord containing axes A3, A5, and A7 is a design element that enhances the arm's range of motion, particularly in flexion and extension movements. While axes A4 and A7 are parallel with one another, their non-alignment in the same Z-plane contributes to the arm's ability to achieve more human-like postures and movements. This offset may be adjusted in alternative configurations to accommodate specific task requirements, such as increased reach or compact storage profiles. Additionally, automated adjustment mechanisms could be integrated to modify the offset dynamically during operation, optimizing the arm's performance in varying environments. [0211] The perpendicular orientation of axis A6 relative to axes A3-A5 and A7, combined with its non-alignment with axes A1-A2, creates a complex rotational workspace for the wrist. This arrangement allows the wrist to perform intricate movements necessary for fine manipulation tasks while avoiding kinematic singularities that could limit the arm's dexterity. Variations of this design may include modular actuators that can be easily replaced or reconfigured. The forward offset of the center of the actuator bearings for both axes A4 and A6 from the common chord is a design choice that may contribute to a more anthropomorphic arm profile while also potentially reducing the moment of inertia around the primary arm rotation axis. [0212] The alignment and positioning of these actuators and bearings may be achieved through advanced manufacturing techniques such as five-axis CNC machining and coordinate measuring machine (CMM) verification. Tight tolerances, potentially on the order of ±0.01 mm for mating surfaces, may be necessary to ensure proper function and longevity of the arm assembly 5. Advanced robotic assembly processes and real-time quality assurance systems could further optimize the alignment and integration of these components. In summary: (i) axes A3, A5, and A7 may be substantially aligned along a common chord, wherein axes A3 and A5 may be co-linear and axis A7 may be perpendicular to axes A3 and A5, (ii) axis A4 may be offset forward of said common chord, (iii) axes A4 and A7 may be parallel with one another, but may not be aligned in the same Z-plane, (iv) axis A6 may not be aligned with axes A1- A2 and may be perpendicular to axes A3-A5 and A7, (v) the center of the actuator bearing for both axes A4 and A6 may be offset forward of said common chord, and (vi) any other calculations, ratios, comparisons, or information that can be gathered from the figures disclosed herewith. c. Robot Head and Neck Assembly [0213] The head and neck assembly 10 of the humanoid robot 1 may be designed to enhance its anthropomorphic characteristics while providing functional capabilities that support interaction, perception, and communication. Structurally, the head and neck assembly 10 may include one or more than one actuator. In the disclosed embodiment, the head and neck assembly 10 include two primary actuators: a head twist actuator (J8.1) 120, responsible for enabling rotational movement of the head about the vertical axis, and a head nod actuator (J8.2) 140, which adjusts the pitch of the head about the horizontal axis. Together, these actuators may provide two degrees of freedom (2 DoF) for the head, allowing it to perform movements that emulate human head motions. The head twist actuator (J8.1) 120 may typically be located at the base of the neck, where it interfaces with the torso 16, while the head nod actuator (J8.2) 140 may be positioned within the head and enables forward and backward tilting of the head. The head twist actuator (J8.1) 120 and a head nod actuator (J8.2) 140 may utilize any motor, gearbox, sensors, bearings, encoders, and/or other components or parts that are discussed below in the actuators sections that are optimized for these movements. [0214] The head 10 itself may serve as a multifunctional platform that may house within an impact-resistant polymer shell a range of components, such as high-resolution cameras, microphones, and displays. Cameras embedded within the head may include RGB, depth- sensing, or thermal imaging capabilities, enabling the robot to perform tasks such as object recognition, environmental mapping, and facial expression analysis. Microphones may be arranged in the robot’s neck and include an array to facilitate directional audio input and noise cancellation, enhancing the robot’s ability to understand and respond to verbal commands. Displays integrated into the head could serve as user interfaces, providing visual feedback or conveying expressions to improve communication and user engagement. Functionally, the head and neck assembly may be configured to support a variety of tasks, including directing the field of view of cameras embedded within the head 10. The head actuators J8.1 and J8.2 may work in coordination to position the head accurately, enabling the robot to track objects, focus on specific areas, or maintain eye contact during human-robot interactions. For example, the head twist actuator (J8.1) 120 may rotate the head to follow a moving object, while the head nod actuator (J8.2) 140 adjusts the pitch to maintain an optimal viewing angle. [0215] Although the head and neck assembly 10 may not be intended to contact or manipulate objects directly, it may play an important role in enhancing the robot’s interaction capabilities. In alternative embodiments, the head actuators J8.1 and J8.2 may be arranged with the head twist actuator (J8.1) 120 positioned within the head and the head nod actuator (J8.2) 140 located in a lower position within the neck. Variations of this design could include the addition of a third actuator to provide roll motion, further increasing the head's range of movement to 3 DoF, which could enable more expressive head gestures, such as tilting the head sideways to convey curiosity or empathy. Alternatively, the actuators could be replaced with compact linear actuators or parallel-link mechanisms for specialized applications requiring higher precision or load capacity. Additionally, variations could include modular head designs that allow for quick customization or replacement of components. d. Robot Central Region and Leg Assembly [0216] The arrangement of actuators (J9-J13) 620, 680, 720, 768, 782 in the central portion 3 of the robot 1 may represent a biomechanical design that optimizes functionality, stability, and energy efficiency. These central portion actuators J9-J13 are similar to, but higher torque than, the actuators that are included within the arm assemblies 5. Also, similar to the arm assemblies 5, the central portion 3 may be constructed from advanced materials to enhance mechanical properties, reduce weight, and improve durability. The torso lean actuator (J9) 680 may be positioned within the housing 642 of the pelvis 64, providing a stable base for torso movements. This positioning may allow for efficient force transmission and load distribution throughout the robot's structure. The output of torso lean actuator (J9) 680 may be coupled to an extent of the spine 60, enabling precise control of the robot's lean or roll motion. The torso twist actuator (J10) 620 may be located within the robot's waist/spine 70, at a junction between the upper and lower body. The output adaptor of torso twist actuator (J10) 620 may interface directly with an extent of the pelvis 64, facilitating rotational movement of the torso 16 relative to the lower body. The waist/spine 70 itself may be coupled to a lower extent of the torso 16, creating a continuous kinematic chain from the pelvis 64 to the upper body. [0217] The spatial arrangement of the torso lean actuator (J9) 680 and the torso twist actuator (J10) 620 may be engineered to maximize the robot's range of motion while maintaining structural integrity. Both actuators may be substantially centered along the sagittal plane of the robot 1, ensuring balanced force distribution and symmetrical movement capabilities. This centering may be important for maintaining the robot's stability during complex maneuvers and for preventing undesired torques that could compromise balance or efficiency. Variations of this design could include: (i) offsetting the actuators slightly from the sagittal plane to introduce asymmetrical capabilities, (ii) integrating active stabilization mechanisms, such as gyroscopic systems or dynamically adjustable counterweights, and/or (iii) a compliant actuator systems with integrated spring-damping elements could provide passive shock absorption and energy recovery, improving the robot’s efficiency during dynamic operations. [0218] The 2 degrees of freedom (DoF) provided by the torso lean actuator (J9) 680 and the torso twist actuator (J10) 620 for the torso 16 (roll and yaw) may enhance the robot's operational versatility. This configuration may allow the robot 1 to pivot its body to pick up items positioned at extreme angles, such as 90 degrees to its side, without the need for full body rotation. Additionally, it may enable the robot to lean over obstacles, expanding its reach and workspace. These capabilities may be valuable in dynamic environments where the robot must interact with objects in various positions relative to its body. Variations of this setup could include: (i) integrating additional degrees of freedom, (ii) using a gimbal-like mechanism could replace the torso lean actuator (J9) 680 and the torso twist actuator (J10) 620, (iii) using sealed actuators with advanced thermal management systems, and/or (iv) using modular actuator designs. [0219] As illustrated in FIGS. 15-16, axis A9 may be parallel with the transverse plane PT, positioned within the sagittal plane PS, and perpendicular to the coronal plane PC. This orientation may allow for smooth lateral bending of the torso. Conversely, axis A10 may be parallel with the coronal plane PC, positioned within the sagittal plane PS, and perpendicular to the transverse plane PT, facilitating twisting of the torso. The perpendicular relationship between axes A9 and A10 may ensure independent control of yaw and roll motions, minimizing mechanical interference and simplifying control algorithms. In other embodiments, the interior angle between the torso lean axis A9 and the torso twist axis A10 is greater than 45 degrees and less than 135 degrees. Variations or alternatives could include: (i) designing axes A9 and A10 with adjustable axes to provide customizable ranges of motion, and/or (ii) replacing the actuators with spherical joints driven by multi-axis actuators. [0220] The spatial offset between the torso lean actuator (J9) 680 and the torso twist actuator (J10) 620 may be a design feature that optimizes the robot's structure and functionality. The center of actuator bearing 624.6 of torso twist actuator (J10) 620 may be offset downward along the Z-axis from the center of actuator bearing 674.6 of torso lean actuator (J9) 680 by a distance ranging from about 5 mm to 10 mm, representing 10% to 20% of the radius of actuator bearing 684.6 of torso lean actuator (J9) 680. This offset may allow for a more compact design of the waist while maintaining the necessary range of motion for both actuators. Variations or alternatives to this design could include: (i) introducing dynamically adjustable offsets using linear actuators or telescoping mechanisms, (ii) utilizing rotary dampers or friction-based locking systems within the offset assembly, (iii) including compliant elements such as elastomeric couplings, and/or (iv) using magnetic or fluid-based bearings could replace traditional actuator bearings, offering smoother motion and reduced wear. [0221] Furthermore, the center of actuator bearing 684.6 of torso lean actuator (J9) 680 may be offset rearward along the X-axis from the center of actuator bearing 724.6 of hip flex actuator (J11) 720 by a distance of at least 50 mm and preferably between 80 mm and 120 mm, equivalent to 80% to 120% of the diameter of actuator bearing 684.6 of the torso lean actuator (J9) 680. This rearward offset may allow the robot 1 to maintain its center of gravity within a stable range during forward-leaning motions. These carefully calculated offsets may result in the upper extents of torso lean actuator (J9) 680 and torso twist actuator (J10) 620 being substantially parallel to one another. This parallel configuration may be advantageous as it reduces the space required for spine roll and yaw movements, allowing for a more compact design of the central portion 3. The reduced space requirement in the waist may directly translate to an increased volume in the torso 16, which can be utilized for larger battery capacity and enhanced computing capabilities, such as additional GPUs. As shown in FIG.54A, in some embodiments the axis A9 may be angled with respect to the transverse plane PT and may range between 1 and 45 degrees, preferably between 5 and 25 degrees, or more specifically between 10 and 20 degrees. [0222] The design of robot 1 may incorporate an approach to torso articulation that deviates from conventional humanoid robot architectures. Specifically, the robot 1 may lack a dedicated spine pitch actuator, a design choice that may yield advantages in terms of internal volume and power capacity. By eliminating this actuator, the volume within the torso 16 may be substantially increased, potentially by over 270%, from approximately 7 liters to over 19 liters. This expanded internal space may allow for the integration of larger power and computing systems, which may be beneficial for enhancing the robot's operational capabilities and autonomy. [0223] To further leverage the available internal volume, alternative configurations could incorporate modular battery packs that allow for hot-swapping during extended operations, ensuring near-continuous uptime. The design could also accommodate advanced energy storage technologies, such as solid-state batteries or supercapacitors, which provide higher energy densities and faster charging times. Additional variations might include segmented internal compartments for electromagnetic shielding, preventing interference between power systems and sensitive electronics. These adaptations may provide a scalable framework for enhancing the robot’s capabilities while maintaining its overall efficiency and robustness. [0224] While the omission of a dedicated spine pitch actuator may present certain limitations in terms of torso flexion, the robot 1 may compensate for this through an innovative use of its hip flex actuators (J11) 720. By coordinating the rotation of the hip flex (J11) 720 actuators in the left and right hips 70, the robot 1 may achieve forward bending motions that approximate the functionality typically provided by a spine pitch actuator. This approach may represent a solution to maintaining forward bending capabilities while optimizing internal space utilization. The hip flex actuator (J11) 720 may be designed with enhanced torque and range of motion capabilities to accommodate this dual functionality. For instance, the hip flex actuator (J11) 720 may utilize any motor, gearbox, sensors, bearings, encoders, and/or other components or parts that are discussed below in the actuators sections that are optimized for these hip movements. In alternative embodiment, pelvis 64 may include integrating elastic elements or compliant mechanisms into the hip assemblies to provide passive assistance during bending motions, reducing energy consumption. For environments requiring high durability, sealed bearing assemblies with integrated thermal management systems could ensure reliable operation under harsh conditions. [0225] The structural configuration of the hip flex actuator (J11) 720 ensures optimized force transmission and enhanced stability. The direct coupling of the output adaptor of the hip flex actuator (J11) 720 to both sides of the pelvis 64 forms a robust mechanical interface, effectively minimizing unnecessary motion loss and ensuring efficient torque transmission to the pelvis 64 and lower limbs or leg assembly 6. By positioning the axis A11 orthogonally to both axes A10 and A9, the design achieves an optimized distribution of forces and moments within the central portion 3 of the robot. This orthogonal relationship allows independent and precise control of hip flexion/extension, spine yaw, and roll, mimicking the biomechanics of the human pelvis. As shown in FIG.54B, in some embodiments the axis A11 may be angled with respect to the transverse plane PT and may range between 1 and 45 degrees, preferably between 5 and 25 degrees, or more specifically between 10 and 20 degrees. [0226] In an alternative embodiment, an output adaptor of the hip flex actuator (J11) could be replaced with a flexible or semi-flexible joint to introduce compliance that absorbs and dissipates external shocks during motion. Further, the robot 1 may include modular coupling systems allowing the pelvis 64 to be easily replaced or reconfigured. The orthogonal arrangement of axis A11 with respect to axes A10 and A9 could also be adjusted to a skewed or angled configuration to address unconventional load paths or specialized tasks, such as navigating uneven terrain or executing non-linear movements. These modifications could integrate compliant or actively adjustable mechanisms to enable real-time reorientation of axis A11 based on sensor feedback, optimizing the system’s adaptability to dynamic environments. Further enhancements might include shock-dampening elements embedded within the adaptor assembly to mitigate wear and extend operational longevity. For example, these could include non-linear or helical geometries to simulate distinct gaits or stances. [0227] The deliberate offset of axis A11 along the Z-axis by over 30 mm and preferably over 70 mm increases the moment arm for hip movements, thereby reducing the torque requirements for the actuator during certain operations while aligning the design with human anatomical structures to enable natural, human-like motion with an expanded range of movement. Variations of this configuration could involve modifying the offset to less than 70 mm. Adjustable mechanisms, such as telescoping mounts or modular inserts, could be implemented to allow real-time customization for specific tasks. Further derivatives may include dynamic axis repositioning, facilitated by actuated linkages or compliant mechanisms, to adapt the Z- axis offset dynamically during operation, optimizing the balance between high-torque and high-speed movements. Enhanced structural integration through the use of flexible composite joints or vibration-damping materials could also be introduced to improve movement precision and durability while mitigating wear during extended operation, ensuring the offset configuration remains versatile and beneficial across a wide range of humanoid robotic applications. [0228] The alignment of axis A11 with axis A10 in the coronal plane PC is a feature contributing to the robot’s ability to maintain balance and perform complex locomotion tasks. This configuration ensures consistency of the hip flexion/extension axis relative to the spine’s yaw axis, facilitating intuitive control algorithms and simplifying inverse kinematics calculations required for precise leg movements. The co-planar relationship between axes A11 and A10 via a vertical plane parallel to the coronal plane is particularly noteworthy, allowing synchronized movements between hip flexion/extension and spine yaw. This enables fluid, human-like motions, such as turning while walking or reaching across the body, and enhances energy efficiency during locomotion by enabling more natural weight transfer between legs. As an alternative, the alignment of axis A11 could be adjusted to accommodate non-human gait patterns or specialized locomotion tasks, such as asymmetric axis alignment to support uneven terrain navigation. Such adjustments could utilize actuated mechanisms or compliant linkages driven by integrated sensor systems to maintain balance and optimize force distribution. [0229] The direct coupling of the hip flex actuator (J11) 720 to the pelvis 64, positioning it closer to torso lean actuator (J9) 680 and torso twist actuator (J10) 620 than other actuators, represents an unconventional approach offering several advantages. This compact configuration lowers the robot’s center of gravity, enhances stability, and simplifies the mechanical design of the hip joint, improving reliability and reducing manufacturing complexity. The configuration of the hip pivot actuator (J12) 768 in relation to the hip flex actuator (J11) 720 and the pelvis 64 represents an advancement in humanoid robot kinematics. This arrangement, wherein the output adaptor 778 of hip pivot actuator (J12) 768 is coupled to an extent of the housing of hip flex actuator (J11) 720, creates an angular relationship between the axis A12 and the transverse plane PT. As shown in FIG. 54A, the angle for A12 may range between 1 and 45 degrees, preferably between 5 and 25 degrees, or more specifically between 10 and 20 degrees. This is a design feature that enhances the robot's overall range of motion and functionality. This angled configuration of A12 relative to the transverse plane PT offers several biomechanical advantages. Primarily, it allows for an increased range of motion in the hip Y or hip pitch direction. This expanded mobility is particularly beneficial in enabling the robot 1 to perform deep squats, facilitating easier transitions from a prone position to standing, and compensating for the absence of a dedicated spine Y actuator. The ability to achieve these complex movements is useful for a humanoid robot designed to operate in diverse environments and perform a wide array of tasks. [0230] In alternative embodiments, the coupling mechanism between hip pivot actuator (J12) 768 and hip flex actuator (J11) 720 may incorporate a spherical joint, a custom-designed universal joint, or a semi-compliant pivot assembly to accommodate the angular offset while allowing for smooth, multi-axis motion. This joint could employ advanced bearing technologies, such as ceramic hybrid bearings, diamond-like carbon (DLC) coated surfaces, or polymer-based tribological coatings to reduce friction and wear under high loads and frequent articulation. Furthermore, the angular range of axis A12 could be dynamically adjustable through actuated linkages, compliant mechanisms, or shape-adaptive structures that leverage integrated micro-actuators. These features would enable the robot to optimize its posture and movement for specific tasks, such as crawling, climbing, or navigating constrained spaces. Variations may also include modular configurations, where hip pivot actuator (J12) 768 can be reoriented, adjusted in length, or swapped with alternative actuators. Additionally, the integration of smart materials, such as shape memory alloys or magnetorheological elastomers, could further enhance the adaptability and functionality of hip pivot actuator (J12) 768 by allowing it to self-adjust based on load conditions or dynamic interactions with the environment. Advanced iterations might incorporate active damping mechanisms or energy recovery systems to improve efficiency and extend operational life under continuous high- stress movements. [0231] The configuration of the hip pivot actuator (J12) 768 within the robot 1 represents a departure from conventional humanoid robot designs, offering benefits in terms of range of motion, structural integrity, and overall functionality. As highlighted, the axis A12 of hip pivot actuator (J12) 768 is not parallel or perpendicular to any other axis within the robot's kinematic chain. This non-orthogonal arrangement creates a complex but highly versatile joint configuration that enhances the robot's mobility and adaptability. Additional alternatives to this configuration could include introducing a hybrid mechanism combining rotational and translational degrees of freedom to further expand hip pivot actuator (J12) 768’s versatility. For example, a prismatic joint integrated along the axis A12 could provide linear movement, enabling the robot to extend or retract its leg laterally for tasks requiring wide stances or precise positioning. Another variation might incorporate a cam-based system within the coupling mechanism to dynamically modify the angular orientation of axis A12 in real time, optimizing the actuator's range for specific tasks or environments. Further, a dual-axis actuator system could be employed, where hip pivot actuator (J12) 768 is coupled to a secondary actuator providing supplementary rotational or oscillatory motion, enhancing the robot's agility and ability to perform complex maneuvers. [0232] A vertical plane containing axis A12 is perpendicular to a horizontal plane containing axis A11, where axis A11 represents the axis of another actuator, potentially the hip flex actuator (J11) 720 or leg twist actuator (J13) 782. This geometric arrangement allows for a clear delineation of functions between the hip flex actuator (J11) 720, which provides hip/leg pitch, and hip pivot actuator (J12) 768, which provides hip/leg roll.. To expand upon this design, alternative configurations could involve non-perpendicular alignments between these planes to introduce controlled coupling effects, enabling coordinated motions for complex tasks such as twisting while pitching. Another variation might include integrating a secondary, adjustable joint along axis A12 to allow dynamic modulation of its spatial orientation relative to axis A11, offering greater adaptability for varied terrains or task-specific requirements. Additionally, the use of compliant mechanisms or elastomeric connectors in the coupling of hip pivot actuator (J12) 768 to other actuators could enhance energy absorption during rapid movements, reducing stress on structural components and improving durability in high-load scenarios. These alternatives further diversify the functional capabilities of the hip pivot actuator (J12) 768 configuration, broadening its applicability across various robotic applications. [0233] As shown in the Figures, hip pivot actuator (J12) 768 is not directly connected to the pelvis 64. Instead, it is directly coupled to the hip flex actuator (J11) 720. This configuration allows hip pivot actuator (J12) 768 to be angled relative to both the hip flex actuator (J11) 720 and the pelvis 64, creating a unique kinematic chain that enhances the robot's range of motion and load-bearing capabilities. The angled positioning of hip pivot actuator (J12) 768 may be achieved through a specialized coupling mechanism, potentially incorporating a universal joint, ball-and-socket joint, or a custom-designed interface that accommodates the non-orthogonal alignment while allowing smooth multi-axis motion. Alternative approaches could include a compliant linkage system, integrating elastomeric joints or flexure-based designs to absorb and redistribute dynamic loads, enhancing durability and range of motion. [0234] Also, the center of actuator bearing 772.6 of hip pivot actuator (J12) 768 is located below, or closer to the support surface, than the actuator bearing centers of (J9) 680, (J10) 620, and (J11) 720. This lower positioning of hip pivot actuator (J12) 768 creates a unique load path through the robot's structure, placing the main stresses for supporting the robot on an angled link that is not co-linear with other axes in the leg or hip. The angled configuration of hip pivot actuator (J12) 768 also has implications for the robot's overall balance and stability. By positioning the hip roll actuator lower in the kinematic chain, the robot's center of mass during lateral movements may be more stable, potentially improving balance during single-leg support phases or when subjected to lateral forces. This configuration may allow for more human-like gait patterns and enhanced agility in multi-directional movements. Potential modifications to this design could involve an actively adjustable mounting system for hip pivot actuator (J12) 768, utilizing linear actuators or stepper-controlled pivots to dynamically adjust the axis orientation, further optimizing the robot's performance in complex environments or under varied load conditions. [0235] Still referring to FIGS.8-10 and 13-14, leg twist actuator (J13) 782 may be positioned near hip pivot actuator (J12) 768 within the hip housing 762 and its output adaptor 790 may be coupled to an extent of the lower thigh 80. Leg twist actuator (J13) 782 provides the robot 1 with the leg yaw or leg twist and its axis A13 may be parallel with axis A10 of torso twist actuator (J10) 620 and may be positioned perpendicular to axis A11 of the hip flex actuator (J11) 720. This placement allows axes A10, A11, A13 to be positioned in a single vertical plane or a plane parallel with the coronal plane PC. This placement helps ensure that the weight of the robot 1 is supported by the hips/leg when the robot 1 is at rest. The actuator bearings 624.6 associated with torso twist actuator (J10) 620 could be positioned in the location of the actuator bearing 786.6 of leg twist actuator (J13) 782 by translating actuator bearing 624.6 by approximately 250 mm in the downward Z direction and translating in the Y direction to either one of the legs that contains leg twist actuator (J13) 782. [0236] The configuration of the hip pivot actuator (J12) 768 within the robot 1 represents a departure from conventional humanoid robot designs, offering benefits in terms of range of motion, structural integrity, and overall functionality. As highlighted, the axis A12 of hip pivot actuator (J12) 768 is not parallel or perpendicular to any other axis within the robot's kinematic chain. This non-orthogonal arrangement creates a complex but highly versatile joint configuration that enhances the robot's mobility and adaptability. Additional alternatives to this configuration could include introducing a hybrid mechanism combining rotational and translational degrees of freedom to further expand hip pivot actuator (J12) 768’s versatility. For example, a prismatic joint integrated along the axis A12 could provide linear movement, enabling the robot to extend or retract its leg laterally for tasks requiring wide stances or precise positioning. Another variation might incorporate a cam-based system within the coupling mechanism to dynamically modify the angular orientation of axis A12 in real time, optimizing the actuator's range for specific tasks or environments. Further, a dual-axis actuator system could be employed, where hip pivot actuator (J12) 768 is coupled to a secondary actuator providing supplementary rotational or oscillatory motion, enhancing the robot's agility and ability to perform complex maneuvers. [0237] A vertical plane containing axis A12 is perpendicular to a horizontal plane containing axis A11, where axis A11 represents the axis of another actuator, potentially the hip flex actuator (J11) 720 or leg twist actuator (J13) 782. This geometric arrangement allows for a clear delineation of functions between hip flex actuator (J11) 720, which provides hip/leg pitch, and hip pivot actuator (J12) 768, which provides hip/leg roll. To expand upon this design, alternative configurations could involve non-perpendicular alignments between these planes to introduce controlled coupling effects, enabling coordinated motions for complex tasks such as twisting while pitching. Another variation might include integrating a secondary, adjustable joint along axis A12 to allow dynamic modulation of its spatial orientation relative to A11, offering greater adaptability for varied terrains or task-specific requirements. Additionally, the use of compliant mechanisms or elastomeric connectors in the coupling of hip pivot actuator (J12) 768 to other actuators could enhance energy absorption during rapid movements, reducing stress on structural components and improving durability in high-load scenarios. These alternatives further diversify the functional capabilities of the hip pivot actuator (J12) 768 configuration, broadening its applicability across various robotic applications. [0238] As shown in FIGS. 8-10 and 15-16, a knee actuator (J14) 820 may be housed in the lower thigh 80 and provides bending motion to the leg. Unlike other conventional robots, the knee actuator (J14) 820 may not be a linear actuator and may not be driven by a linkage. Instead, said knee actuator may be a rotary actuator that is coupled to the housings associated with the lower thigh 80 and the shin 84. As shown in FIG. 55, the actuator bearing 824.6 for knee actuator (J14) 820 contained in both legs may be positioned on the left side of vertical planes that are parallel with the sagittal plane and aligned with axis A13. This is unlike the position of all other actuator bearings contained within the robot 1, as said actuator bearing 824.6 of knee actuator (J14) 820 may not be in a mirrored location across the robot’s sagittal plane PS. This may be beneficial because it allows the lower thigh 80’s and shin 84 to be identical to one another, which reduces manufacturing cost, unique parts, etc. [0239] Finally, a foot flex actuator (J15) 860 may be housed in the shin and includes a ball screw linear actuator for pitch movement of the foot 92 and a foot roll actuator 900 (J16) may be housed within the talus 88 to allow a rolling motion of the foot. Placing the foot roll actuator 900 (J16) in the foot may be an uncommon solution because it increases the torque requirements required by other actuators contained in the leg 6 - namely, actuators (J11-J13) 720, 768, 820. Unlike conventional coupling of linear and rotary actuators, the housing of the foot roll actuator 900 (J16) may be designed to be directly coupled to the output of foot flex actuator (J15) 860. [0240] To further mimic human-like movement capabilities, the leg assemblies 6 may incorporate passive dynamic elements. For instance, spring-loaded mechanisms in the ankle or knee joints may store and release energy during the gait cycle, potentially improving efficiency and providing a more natural walking motion. These passive elements may work in conjunction with the active actuators to create a hybrid system that combines the benefits of both active control and passive dynamics. In some implementations, the leg assemblies 6 may include active cooling systems to manage heat generated by the actuators during prolonged or high- intensity operations. This may involve the integration of heat sinks, fluid cooling channels, or thermoelectric devices to dissipate heat efficiently and maintain optimal operating temperatures for the electronic and mechanical components. [0241] Functionally, the control system for the robot's central region and leg assemblies 6 employs algorithms to coordinate the actions of multiple actuators, ensuring precise and efficient movement. These algorithms dynamically account for factors such as the robot's 1 posture, intended motion, and environmental conditions to determine optimal actuation patterns. For instance, when climbing stairs, the system adjusts the timing and force of actuator engagements to lift the leg and place the foot 92 accurately on each step. Incorporating machine learning techniques, such as reinforcement learning and evolutionary algorithms, the control system adapts over time by analyzing data from repeated movements and interactions with various environments. This adaptive capability enhances efficiency, stability, and natural movement, enabling the robot 1 to tackle increasingly complex locomotion tasks. Furthermore, prediction algorithms leverage data from visual sensors, inertial measurements, and historical movement patterns to anticipate terrain changes or obstacles, allowing preemptive gait adjustments for smoother and more efficient navigation across varied surfaces. The system integrates seamlessly with the robot's overall balance and posture control, continuously adjusting actuator outputs to maintain stability during dynamic movements and external perturbations. By coordinating leg 6 motions with upper body actions, such as arm movements and torso 16 adjustments, the control system achieves whole-body balance and advanced locomotion strategies tailored to the robot's unique physical configuration and operational environments. [0242] The robot 1 may also be equipped with an extensive suite of sensors and actuators that operate in unison to achieve human-like mobility and dexterity. Distributed sensors, including force sensors, capacitive tactile arrays, optical flow sensors, LiDAR sensors, ultrasonic sensors, infrared sensors, temperature sensors, magnetic field sensors, radar systems, and/or chemical sensors, may allow the robot 1 to perceive environmental stimuli with high resolution and accuracy. For instance, force sensors embedded in the robot's hands 56 may enable adaptive grip strength, allowing the robot 1 to handle objects of varying fragility, from delicate glassware to heavy tools. Meanwhile, inertial measurement units (IMUs) located in the torso 16 and legs may work in conjunction with proprioceptive sensors to maintain balance and posture during motion. Further, robot 1 may have a vision system that uses convolutional neural networks (CNNs) to analyze real-time visual data to aid in object recognition, obstacle avoidance, and spatial mapping. The robot's motion planning system may employ algorithms, such as model predictive control (MPC), deep neural networks (DNNs), convolutional neural networks (CNNs), recurrent neural networks (RNNs), transfer learning, and genetic algorithms. These algorithms may process sensory inputs and generate smooth, coordinated movements that replicate natural human motion, incorporating predictive adjustments for complex, multi- task scenarios. 6. Kinematics of the Robot [0243] The following includes a discussion of various kinematic movements, elements, and aspects of various assemblies of a robot. The specific details set forth through the figures and examples provide a thorough understanding of the relevant teachings. The present teachings can be practiced, however, without such details and/or in alternative embodiments or configurations. In some instances, known methods, procedures, components, and/or circuitry have been described at a relatively high level, without detail, to avoid unnecessarily obscuring aspects of the present disclosure. The combination of the pictorial disclosure and written disclosure of the arm, spine, and leg assemblies are examples of the principles of the disclosed assemblies, methods, and systems, and are not intended to limit the broad aspects of the disclosed concepts to the illustrated embodiments. a. Upper Portion [0244] Based on the above described component locations and positions, the arm actuator (J1) 194 has a range of motion that is between 180 degrees and 270 degrees and preferably between 210 degrees and 240 degrees. This corresponds to an angle between 72 degrees forward from the coronal plane to 162 degrees rearward from the coronal plane. Likewise, the shoulder actuator (J2) 280 has a range of motion that is between 120 degrees and 180 degrees and preferably between 140 degrees and 155 degrees. This corresponds to an angle between 32 degrees forward from the sagittal plane to 129 degrees rearward from the sagittal plane. The twist actuator J3 has a range of motion that is between 190 degrees and 360 degrees and preferably between 220 degrees and 360 degrees. This corresponds to an angle between 120 degrees forward from the coronal plane to 120 degrees rearward from the coronal plane. Finally, the elbow actuator J4 has a range of motion that is between 120 degrees and 180 degrees and preferably between 140 degrees and 160 degrees. This corresponds to an angle between 162 degrees forward from the coronal plane to 12 degrees rearward from the coronal plane. [0245] FIGS.30-33 illustrate the range of motion of the left arm actuator (J1) for positioning the arm assembly 5, where the other actuators (J2-J7) in the arm assembly 5 do not apply any torque. By causing the left arm actuator (J1) 190 to rotate to a first limit state (SJ1min), the output of said actuator rotates the left arm 5 counterclockwise with respect to the torso 16, causing the arm assembly 5 to rotate and be angled posteriorly. As shown in FIGS. 30-31, the left arm is angled with respect to the coronal plane (PC) when in the first limit state (SJ1min). By causing the left arm actuator (J1) to rotate in the opposite direction to a second limit state (SJ1max), the output of said actuator J1 rotates the left arm 5 clockwise with respect to the torso 16, causing the arm assembly 5 to rotate and be angled upward. As shown in FIGS. 32-33, the left arm is angled with respect to the transverse plane (PT) and coronal plane (PC) when in the second limit state (SJ1max). [0246] In FIGS. 34-37, the range of motion of the left shoulder actuator (J2) is illustrated, where the left arm actuator (J1) remains in a neutral initial position and the other actuators (J3- J7) in the arm assembly 5 do not apply any torque. In this example, the arm assembly 5 is initially in an extended arm position (FIG.17) and the shoulder actuator (J2) is caused to rotate to a first limit state (SJ2min). With this movement, the output of said shoulder actuator (J2) rotates the left arm 5 clockwise with respect to the torso 16, causing the arm assembly 5 to rotate and be angled anteriorly and downward. As shown in FIGS.34-35, the left arm is rotated toward the sagittal plane (PS) and angled with respect to the transverse plane (PT) and coronal plane (PC) when in the first limit state (SJ2min). By causing the left shoulder actuator (J2) 260 to rotate in the opposite direction to a second limit or outward positive max state (SJ2max), the output of said actuator rotates the left arm 5 counterclockwise with respect to the torso 16, causing the arm assembly 5 to rotate and be angled upward. As shown in FIGS.36-37, the left arm is angled with respect to the transverse plane (PT) and coronal plane (PC) when in the second limit state (SJ2max). [0247] Referring to FIG. 23, the above information is shown in a pictorial format. In particular, point 1 represents the forward – negative limit – for J1 (SJ1min) at an angle that is between -115 and -155 degrees. Point 2 represents the backward – positive limit – for J1 (SJ1max) at an angle that is between 60 and 110 degrees. Point 3 represents the outward – positive limit – for J2 (SJ2max) at an angle that is between 25 and 65 degrees. Point 4 represents the position of the torso’s outmost edge of the torso 16, while point 5 represents the clearance area needed around the robot’s head 10. In other words, although the arm actuator J1 is capable of reaching its positive and negative limits, there are some combinations of movements with the shoulder actuator J2 that are limited by the physical structure of the robot. It should be understood that the arm’s range of motion is also disclosed in FIGS.3-6, and related description. To the extent that the information contained in those figures contradicts the language found here, it should be understood that the disclosure contained in the figures is the primary embodiment and the disclosure contained herein may be treated as an alternative embodiment. Further, other ranges of movement and associated angles are contemplated by this disclosure. 7. Central and Lower Portions [0248] As shown in the figures, the hip flex actuator (J11) 720 can move the leg forward and backward relative to the robot’s torso and/or coronal plane, while the hip pivot actuator (J12) 768 can move the leg 6 left/right or sideways relative to the robot’s torso 16 or in the coronal plane PC. The leg twist actuator (J13) 782 can rotate the leg relative to the robot’s torso 16, while the knee actuator (J14) can bend the knee or leg of the robot 1. Moreover, the torso lean actuator (J9) 680 can allow the torso 16 of the robot to lean to its left or right relative to its feet 92, and the torso twist actuator (J10) 620 can allow the torso 16 of the robot to rotate or twist relative to its feet 92. [0249] FIGS.48- 50 shows the hip assembly in the central portion of the robot 1, where the left and right legs 6 extend from the pelvis 64. The hip flex actuator (J11), the hip pivot actuator (J12), and the leg twist actuator (J13) respectively provide the leg with axes of rotation A11, A12, A13 for Y-axis (pitch), X-axis (roll), and Z-axis (yaw or twist) at the hip and upper leg. The leg twist actuators (J13) are located below the hip flex actuator (J11) and the hip pivot actuator (J12) and provide yaw motion for the legs 6. The hip pivot actuators (J12) are located below the hip flex actuators (J11) and provide roll motion for the legs 6. The hip flex actuators (J11) provide pitch motion for the legs 6 and they are located above the hip pivot actuators (J12) and the leg twist actuators (J13). Although the hip pivot actuator (J12) is identified as providing roll motion about the X-axis, it should be noted that the axis of rotation A12 of the hip pivot actuator (J12) is not parallel to the X-axis or orthogonal to axes A11, A13. In robot 1, the axis of rotation A12 of the hip pivot actuator (J12) is angled with respect to the transverse plane PT by angle gamma, as shown in FIGS.50 and 52. [0250] In robot 1, the left and right legs 6 are interchangeable, further reducing the number of unique parts. The kinematic chain for each leg 6 is shown in FIG. 53. This hip assembly design having the Y-axis hip flex actuator (J11), a middle X-axis hip pivot actuator (J12), and a lower Z-axis leg twist actuator (J13) can offer benefits. For example, having the hip flex actuator (J11) in the robot’s pelvic structure can be beneficial because this can be the actuator that is most used for the forward walking movements of the robot 1. On the other hand, the inertia of the pitch movements of the leg can be increased because the mass of both the hip pivot actuator (J12), and the leg twist actuator (J13) both move when the robot 1 walks. Having the actuators high up in the legs, however, can minimize the effects of the increased inertia for movement in the Y-axis degree of freedom (DOF) for pitch movements of the legs during walking and running. a. Leg Pitch Movement [0251] FIGS. 58-61 illustrate the robot 1 of FIG. 51 in various leg movement positions extending anteriorly and posteriorly to illustrate the range of motion of the hip pivot actuator (J11) 720. In these examples, the other leg actuators (J12-J16) in the leg assembly 6 do not apply any torque. For reference, when the robot 1 is in the neutral position, a leg reference axis RJ11 is defined as a vertical axis extending downward from the axis of rotation A11 of the hip pivot actuator (J11) to the axis of rotation A14 of the knee actuator (J14) and co-planar with a leg reference plane (PS-J12) that is parallel to the sagittal plane (PS). The leg reference plane (PS-J12) includes the axis of rotation A12 of the hip pivot actuator (J12) in the neutral position. As shown in FIG.58, in the neutral position, the leg reference axis RJ11-neut is coplanar with the coronal plane (PC). [0252] The hip flex actuator (J11) 720 controls the movement of the respective leg 6 from forward and backward, i.e., leg pitch movement. FIG. 57 is a schematic side view of range of pitch motion of the robot of FIG.51. A leg reference axis RJ11 is the vertical axis that intersects axis A11 of the hip flex actuator (J11) and axis A14 of the knee actuator (J14), among others, when the robot 1 is in the neutral position. The leg reference axis RJ11-min can represent a first J11 limit or a maximum posterior retraction or flexion of the robot leg using the hip flex actuator (J11). As shown, an angle gamma-J11-min (^J12-min) of about 35 degrees relative to the coronal plane PC. The axis leg reference axis RJ11-max can represent a second J11 limit or anterior advancement or extension of the robot leg using the hip flex actuator (J11). As shown, an angle gamma-J11-max (^J12-max) of about 135 degrees relative to the coronal plane PC (i.e., relative to leg reference axis RJ11-neut ). Note that, in some embodiments, a maximum anterior advancement or extension of the robot leg using the hip flex actuator (J11) can be about 160 degrees relative to the coronal plane PC, but this can require simultaneous movement of the leg laterally outward by about 20 degrees using the hip pivot actuator (J12) to avoid interference between the leg and the torso 16. This concept of achieving greater extension of a leg about the hips by utilizing simultaneous laterally outward movement of the leg is similar to how humans move, e.g., when performing a deep squat (e.g. FIGS.2D-2F). [0253] Described in another way, shown in FIG. 51, the distance between the origin O and the center of the left knee actuator J14 at the intersection of the rotational axis A14 and the leg reference plane (PS-J12) is shown as reference line RO-ka. The angle theta-19 (^19) represents the angle of reference line RO-ka with respect to the leg reference plane (PS-J12), in a front view. When in a rearward flexion position, as shown in FIG.59, the reference line RO-ka in the front viewing plane is shortened and the angle theta-23 (^23) represents the angle of reference line RO-ka with respect the leg reference plane (PS-J12), in a front view, and angle theta-24 (^24) represents the angle of reference line RO-ka with respect the coronal plane (PC). b. Leg Flexion [0254] The hip flex actuator (J11) can allow the robot to move its leg: (i) backwards between about 5 degrees and about 55 degrees, preferably between about 25 and about 45 degrees, and most preferably between about 30 and about 40 degrees, and (ii) forward between about 25 and about 210 degrees, preferably between about 80 and about 190 degrees, and most preferably between about 145 and about 175 degrees. In other words, the hip flex actuator (J11) can move the leg backward at least about 5 degrees, preferably at least about 25 degrees, and most preferably at least about 30 degrees. Likewise, the hip flex actuator (J11) can move the leg backward at least about 25 degrees, preferably at least about 80 degrees, and most preferably at least about 145 degrees. Thus, the hip flex actuator (J11) can have a range of motion that is at least about 30 degrees, preferably at least about 105 degrees, and most preferably at least about 175 degrees. In some embodiments, the hip flex actuator (J11) can have a range of motion that is approximately 200 degrees. [0255] FIGS. 58 and 59 show the leg in a rearmost position, i.e., a maximum rearward movement of the hip flex actuator (J11) that can substantially avoid interference with other components of the robot 1 while the torso twist actuator (J10) is fully rotated in one direction and the torso lean actuator (J9) is leaning fully to the one direction. In such a position, there can be some interference between the parts, but placing all three actuators at their maximum position is rare and there is no specific use case that has been developed to date for why the robot would be placed in this configuration. It should be understood that the torso lean actuator (J9) can be placed at the maximum lean and the hip flex actuator (J11) can be placed at a maximum rearward position. In this configuration, the components of the body will not contact each other, which is due in part to the design of the hip, pelvis, and waist bucket of the torso. Potential interference might only occur if the torso 16 were then twisted fully using torso twist actuator (J10) from this position but, as noted above, this is a rare configuration that is not typically desired. Accordingly, the spine and lower body assemblies include uniquely shaped structures that position the actuators associated therewith in specific locations in order to allow the robot to move in the designed manners. c. Leg Extension [0256] FIGS.60-61 show side and front views of the robot of FIG.51 in a position where its left leg is extended anteriorly forward by about 135 degrees using the hip flex actuator (J11). Of course, the robot 1 can be capable of achieving any other degree of forward leg extension between these illustrated neutral and extended positions. Further, and as noted above, additional degrees of leg extension beyond that shown in FIGS. 60 and 61 are possible when combined with lateral outward movement of the leg using the hip pivot actuator (J12) in combination with the hip flex actuator (J11). [0257] For example, when the hip flex actuator (J11) is moved to a maximum forward position (e.g., about 160 degrees relative to the coronal plane PC), it can place the knee right next to the chest of the torso 16. In this configuration, however, the leg can contact the torso 16 and be stopped prior to achieving the maximum forward extension of the hip flex actuator (J11). To address this, when the hip flex actuator (J11) is moved to the maximum forward position, the hip pivot actuator (J12) can move the leg slightly to the side or laterally outwards (e.g., about 20 degrees in one embodiment). In other words, the leg 6 can be angled outward relative to the sagittal plane PS. This positional relationship can be beneficial if the robot 1 is lifting a weight or getting off the ground. In particular, the angle of the hip pivot actuator (J12) can be at least 5 degrees, preferably at least 10 degrees, most preferably at least 15 degrees, and, in one embodiment, can be about 20 degrees from being parallel with the sagittal plane PS in order to allow the torso 16 to clear the leg 6 when said leg is in the maximum forward position. It can be desirable to allow for the clearance of the leg in this maximum forward position with the least amount of rotation needed by the hip pivot actuator (J12). As such, the leg 6 can be designed to clear the torso 16 in the maximum forward position, when the hip pivot actuator (J12) is rotated less than 40 degrees, preferably less than 30 degrees, and most preferably less than 25 degrees from being parallel with the sagittal plane PS. In other words, said rotation of the hip pivot actuator J12 can be positioned between 5 degrees and 40 degrees, preferably be between 10 degrees and 30 degrees, and most preferably between 25 degrees and 30 degrees from being parallel with sagittal plane PS in order to minimize the amount of rotation needed from the hip pivot actuator (J12) while allowing for the leg 6 to be fully forward and clear the torso 16 without interference. d. Leg Roll Movement [0258] The hip pivot actuator (J12) 768 controls movement of the respective leg 6 from side to side, i.e., leg roll movement. FIGS.62-64 illustrate the robot 1 of FIG.51 in various medial and lateral movement positions to illustrate the range of motion of the hip pivot actuator (J12) 768. In these examples, the hip flex actuator (J11) remains in a neutral initial position and the other leg actuators (J13-J16) in the leg assembly 6 do not apply any torque. For reference, when the robot 1 is in the neutral position, a leg reference axis RJ12 is defined as a vertical axis extending downward from an origin point OJ12 at the intersection of the axis of rotation A12 and the actuator bearing plane B12 of the hip pivot actuator (J12). The lateral movement of said leg reference axis RJ12 is illustrated with respect to a leg reference plane (PS-J12) that is parallel to the sagittal plane (PS) and includes the axis of rotation A12 of the hip pivot actuator (J12) in the neutral position. [0259] For example, FIG.63 shows a front view of the robot of FIG.51 in a position where its right leg (i.e., thigh 76b) is rolled laterally outward by about 45 degrees (i.e., angle ^J12-max) and its left leg (i.e., thigh 76a) is rolled medially inward by about 25 degrees (i.e., angle ^J12- min) using the hip roll actuators J12. This configuration simultaneously shows one example of maximum laterally outward roll and maximum medially inward roll for the legs of the robot. In another example, FIG.64 shows a front view of the robot of FIG.51 in a position where its left leg (i.e., thigh 76a) is at a maximum about 45 degrees of laterally outward roll (i.e., angle ^J12-max) using the hip roll actuator J12 while its right leg (i.e., thigh 76b) remains in a neutral position (i.e., no roll relative to leg reference plane PS-J12). Of course, the robot can be capable of achieving any other degree of medial or lateral roll between these illustrated example positions. [0260] These movements are also illustrated schematically in FIG. 62, assume a front view and are shown with respect to the neutral position of the robot 1. As shown in FIG. 63, in the neutral position, the leg reference axis RJ12-neut is co-planar with the leg reference plane (PS-J12). The left leg 6a can be rotated medially about axis A12 to a first limit state or minimum inward lateral state (SJ12min) is shown by RJ12-min and defines an angle beta-J12-min (^J12-min). For example, the angle beta-J12-min (^J12-min) can be about 25 degrees relative to the leg reference plane (PS-J12). As shown in FIG.64, the left leg 6a can be rotated about axis A12, in the opposite direction, extending outward laterally to a second limit state or maximum outward lateral state (SJ12max) is shown by RJ12-max and is at an angle beta-J12-max (^J12-max). For example, the angle beta-J12-max (^J12-max) can be about 45 degrees relative to the leg reference plane (PS-J12). Accordingly, the right leg 6b has the same range of motion mirrored over the sagittal plane PS, as shown in FIG.63. Further, in certain embodiments the robot 1 can be configured to achieve different degrees of rotation and different ranges of motion, all of which are contemplated to be within the scope of the present disclosure. [0261] As discussed above with reference to FIG.51, the distance between the origin O and the center of the left knee actuator J14 at the intersection of the rotational axis A14 and the leg reference plane (PS-J12) is shown as reference line RO-ka. In FIG. 63, the angle theta-32 (^32) represents the angle of reference line RO-ka with respect to the sagittal plane (PS), in a front view, when in the leg is in the maximum medially inward roll. In FIG. 63, the angle theta-37 (^37) represents the angle of reference line RO-ka with respect to the sagittal plane (PS), in a front view, for the maximum latterly outward position. e. Leg Twist Movement [0262] As shown in FIGS. 65-70, the leg twist actuator (J13) is positioned below the torso lean actuator (J9), torso twist actuator (J10), hip flex actuator (J11), and hip pivot actuator (J12). The leg twist actuator (J13) is designed to allow the robot 1 to turn in place and provides up to about 90 degrees of rotation in either direction from the neutral position. This range of movement can allow the robot 1 to turn in place, in particular, by turning one leg about 90 degrees, stepping on it, turning the whole robot around about 180 degrees, and then twisting the other leg about 90 degrees. This is beneficial because the robot can turn 180 degrees (i.e., reverse direction) by only taking two steps and, in some situations, only a single step. Stated another way, said robot can turn around and start walking in the other direction by only taking two (and sometimes one) steps. This represents a significant advantage over many prior designs that can require many steps to reverse direction. [0263] The configuration of the leg and its associated actuators (i.e., actuators J11, J12, and J13) also ensures that said leg cannot be placed in a singularity (where two or more actuator axes of rotation are parallel with one another). This is because the hip pivot actuator (J12) cannot be rotated outward by 90 degrees, which would be required in order to place the axis A11 of the hip flex actuator (J11) parallel with the axis A13 of the leg twist actuator (J13). Additionally, there is very little use for rotating or rolling the leg laterally outward more than about 55 degrees from the sagittal plane. Thus, said configuration of the actuators provides the robot with a significant range of motion without a singularity. In other words, said singularity is positioned outside of the usable working range of the robot's legs. [0264] FIGS. 65-66 illustrate the robot of FIG. 51 the range of motion for leg yaw, where only J13 is rotated and the other leg actuators (J11-J12 and J14-J16) do not apply torque. In FIG.65, the right leg is in a neutral position and the left leg is oriented twisted medially inward by about 90 degrees using the leg twist actuator (J13). In FIG. 66, the right leg is in a neutral position and the left leg is oriented twisted laterally outward by about 90 degrees using the leg twist actuator (J13). [0265] FIG.67, for example, shows a bottom view of the robot of FIG.51 in a position where its lower left leg (i.e., foot 92a) is twisted medially inward by about 45 degrees using the leg twist actuator (J13) and its right leg (i.e., foot 92b) is in a neutral (i.e., forward facing) position. FIG.68 shows a bottom view of the robot of FIG.51 in a position where its lower left leg (i.e., foot 92a) is twisted medially inward by about 90 degrees using the leg twist actuator (J13) and its right leg (i.e., foot 92b) is in a neutral (i.e., forward facing) position. FIG.69 shows a bottom view of the robot 1 of FIG. 51 in a position where its lower left leg (i.e., foot 92a) is twisted laterally outward by about 45 degrees using the leg twist actuator (J13) and its right leg (i.e., foot 92b) is in a neutral (i.e., forward facing) position. Finally, FIG. 70 shows a bottom view of the robot 1 of FIG.51 in a position where its lower left leg (i.e., foot 92a) is twisted laterally outward by about 90 degrees using the leg twist actuator (J13) and its right leg (i.e., foot 92b) is in a neutral (i.e., forward facing) position. Of course, the robot 1 can be capable of achieving any other degree of medial or lateral yaw between these illustrated example positions. f. Spine Flexion/Extension Movement [0266] FIGS. 71-78 illustrate various movements of the spine, i.e., movements of the torso 16 relative to the pelvis 64. As shown in the figures, the robot 1 does not bend forward at its belly. To provide similar forward motion, the robot 1 utilizes the hip flex actuators (J11) of the legs 6. For example, as shown in FIGS.2A-2C, the robot can bend the torso 16 forward at the hip flex actuators (J11) to reach downward. The use of the robot’s legs to perform this forward motion reduces the need for additional actuators (e.g., in some embodiments the two hip flex actuators J11 can do the work of four actuators in prior robots) and beneficially places the loads on the hip flex actuators (J11) for lifting objects off the ground. Thus, the size/torque associated with the hip flex actuators (J11) can be adjusted to account for this functional movement. While the robot 1 does not bend forward at its belly, it can bend sideways at its belly (as shown in FIGS.75-78). This sideways bending is accomplished using the torso lean actuator (J9). Also, because the forward bending of the robot is done using the legs and the hip flex actuators (J11), the torso lean actuator (J9) can be a smaller actuator having less torque than the hip flex actuators (J11). g. Spine Twist Movement [0267] FIGS. 71-74 illustrate the robot of FIG. 51 in various example positions of spine or torso yaw or twist relative to the pelvis 64. This feature helps the robot 1 be able to reach and grab objects that are positioned to its sides. Accordingly, said robot 1 can have a twisting range of motion associated with the torso twist actuator (J10) that is more than about 45 degrees, preferably more than about 120 degrees, and most preferably more than about 170 degrees. In one embodiment, the torso twist actuator (J10) can have a range of motion of about 180 degrees, i.e., about 90 degrees in either direction from the forward facing, neutral position. [0268] FIGS.71 and 72 show front and top views of the robot of FIG.51 in a position where its torso 16 is twisted to its right by about 90 degrees from the neutral position using the torso twist actuator (J10). FIGS. 73 and 74 illustrate front and top views of a similar configuration but in the opposite direction, i.e., twisting the torso 16 of the robot to its left by about 90 degrees from the neutral position using the torso twist actuator (J10). Of course, the robot 1 can be capable of achieving any other degree of torso twist between these illustrated example positions. h. Spine Lateral Flexion Movement [0269] As noted above, the robot can lean to its sides at its belly using the torso lean actuator (J9). The range of motion of the torso lean actuator (J9) can be between about 5 and about 50 degrees, preferably between about 15 and about 40 degrees, and most preferably between about 20 and about 40 degrees. In one embodiment, the torso lean actuator (J9) can have a range of motion of about 30 degrees in either direction from the vertical, neutral position. [0270] FIGS.75 and 76, for example, show side and front views of the robot of FIG.51 in a position where its torso 16 is leaned to its right by about 30 degrees from the neutral position using the torso lean actuator (J9). FIGS. 77 and 78 illustrate front and side views of a similar configuration but in the opposite direction, i.e., leaning the torso 16 of the robot 1 to its left by about 30 degrees from the neutral position using the torso lean actuator (J9). Of course, the robot 1 can be capable of achieving any other degree of torso lean or spine roll between these illustrated example positions. 8. Angles and Distances of the Robot [0271] As best shown in FIGS. 11, 15, and 24-29, the actuators contained in the robot 1 are spaced apart from one another and provide said robot 1 to have a humanoid configuration. While this configuration is not limiting, it can be generally seen that the disclosed robot 1 has the following features. For example, the arm span that extends from fingertip on a first hand to the opposed fingertip on the second hand is greater than the actuator height that extends from the foot roll actuator (J16) 900 to the upper most head actuator. The length of each arm, which extends between the outermost extents of the wrist actuators (J7) is less than 20% less than the length of each leg 6, which extends from the center point on the hip actuator (J11) 720 to the bottom of the foot roll actuator (J16) 900. The center hip distance that extends from the center point on a hip flex actuator (J11) 720 to the center point on an opposed hip flex actuator (J11) 720 is 30% less than the distance between the center point on a shoulder actuator (J2) 280 to the center point on an opposed shoulder actuator (J2) 280. Other ratios, calculations, or information can be gathered from the figures in connection with the tables included herein. While various angle ranges are provided herein, this disclosure contemplates altering all angles and dimensions of any component by any number between about 1% and about 30%. Table 4 Distance (mm) Lower Bound Upper Bound Preferred Lower Preferred Upper Bound Bound D1 1429 2144 1608 1965 D2 1302 1953 1465 1790 D13 176 265 199 243 D16 182 274 205 251 D24 232 348 261 319 D26 303 454 340 416 D29 60 89 67 82 D34 690 1036 777 949 D35 1289 1933 1450 1772 D39 89 134 100 123 D44 64 96 72 88 D75 26 39 29 36 D76 13 19 14 18 D77 13 20 15 18 D78 11 17 13 15 D91 10 16 12 14 D93 13 20 15 18 D95 73 110 82 101 D97 109 163 122 150 D99 103 155 116 142 D101 70 105 79 96 D103 58 88 66 80 D105 58 86 65 79 D107 18 27 20 25 D109 3 5 4 5 D111 8 12 9 11 D113 7 11 8 10 D115 9 14 11 13 D117 21 31 23 28 D119 79 119 89 109 D120 78 118 88 108 D122 88 132 99 121 D127 142 214 160 196 Table 5 Angle (Degrees) Lower Bound Upper Bound Preferred Lower Preferred Upper Bound Bound Al 14 22 16 20 A2 20 30 22 27 A3 6 8 6 8 A4 69 103 77 94 A6 10 16 12 14 A7 2 4 3 3 A10 9 14 10 13 A11 35 53 40 48 A13 66 98 74 90 A14 17 26 19 24 A15 17 25 19 23 A17 58 86 65 79 A18 61 91 68 83 ^19 26 39 29 36 ^20 130 195 146 179 ^22 116 174 131 160 ^23 16 24 18 22 ^24 128 192 144 176 ^30 33 50 37 46 ^32 21 32 24 29 ^37 100 150 113 138 ^38 130 195 146 179 ^39 14 21 16 19 ^40 9 14 10 12 Table 6 Radius (mm) Lower Bound Upper Bound Preferred Lower Preferred Upper Bound Bound R1 28 42 32 39 R2 20 31 23 28 R3 34 52 39 47 9. Alternative Embodiments [0272] Alternative embodiments of the illustrative robot 1 that illustrate alternative robot configurations 1001, 2001, 3001, 4001, 5001, 6001 are shown in FIGS. 38-47 and 79-87. In particular, FIGS. 38-47 illustrate various alternative embodiments for an upper portion of the robot. Similarly, FIGS.79-87 illustrate various alternative embodiments for a leg assembly of a robot. The alternative embodiments disclosed herein may be implemented and feature a capability to avoid, or substantially avoid geometric configurations of the robot's joints in which one or more degrees of freedom are effectively lost due to the alignment or overlap of rotational or translational axes – namely, joint singularities. These configurations can result in a reduction in the robot's ability to maneuver, exert force, or maintain precision during task execution. In this context, alternative embodiments to provide a different range of motion to accommodate specified needs are envisioned. Although the complete robot structure of the alternative embodiments are not explicitly shown, it can be understood that kinematic chains and kinematic maps illustrated in alternative embodiments can be utilized to define actuator arrangements and supporting robot framework, structures, and components. Any of a variety of alternative configurations of robots are possible and considered with the scope of the present disclosure. a. Alternative Embodiments - Upper Portion [0273] Shown in FIGS. 38-41, a second embodiment of robot 1001 is substantially similar to the first embodiment robot 1. For sake of brevity, the above disclosure in connection with robot 1 will not be repeated below, but it should be understood that across embodiments like numbers represent like structures. In this embodiment, the robot 1001 is substantially the same as the first embodiment and includes an alternative upper and lower portions of the robot 1001. The kinematic chain and associated singularity cones for an upper portion of the second embodiment of an upper portion of the robot 1001 are shown in FIGS. 40-41. The schematic diagram shows the kinematic chain and arrangement of arm actuator (J1) 1190, shoulder actuator (J2) 1280, and upper arm twist actuator (J3) 1320. In this embodiment, the arm actuator (J1) is positioned at an upward angle with respect to the transverse and sagittal planes, where the singularity cones surround the primary axis of the arm actuator (J1). The shoulder actuator (J2) 1280 is positioned with its axis substantially perpendicular to the coronal plane and the axis of the upper arm twist actuator (J3) 1320. FIG.38 is a front view of a second embodiment of an upper portion of the robot 1001, which shows a kinematic map of the left arm of said robot with the arrangement of actuators shown in FIGS.40-41. Further, FIG.39 is a schematic of the movement limits of left arm actuator (J1) and left shoulder actuator (J2) of the second embodiment of the robot shown in FIG.38. The arm actuator (J1) is more limited in movement in this configuration. [0274] A third embodiment of robot 2001 is substantially similar to the first embodiment robot 1, and shown in an extended position in FIGS.42-43. The schematic diagram shows the kinematic chain and arrangement of arm actuator (J1) 2190, shoulder actuator (J2) 2280, and upper arm twist actuator (J3) 2320, where the singularity cones surround the primary axis of the arm actuator (J1). In this embodiment, the axis of arm actuator (J1) is substantially parallel to transverse plane PT and positioned at a rearward angle with respect to the coronal plane PC. For example, the axis A1 of arm actuator (J1) 190 may be angled rearward between 1 and 45 degrees (in some cases between 10 and 20 degrees) relative to the coronal plane PC, but may be parallel with the transverse plane PT. The axis of the shoulder actuator (J2) 2280 is axis positioned at a forward angle with respect to the coronal plane and substantially parallel to the sagittal plane PS. The axis of the upper arm twist actuator (J3) 2320 is substantially parallel to the coronal and transverse planes PC, PT. The angled positioning of arm actuator (J1) 2190 and shoulder actuator (J2) 2280. [0275] In FIGS.42-43, a third embodiment of an upper portion of the robot 2001 is shown. In this embodiment, the arm actuator (J1) extends with the primary axis parallel to the transverse plane, and the singularity cone shown surrounding the primary axis of the arm actuator (J1). The schematic diagram shows the kinematic chain and arrangement of arm actuator (J1) 2190, shoulder actuator (J2) 2280, and upper arm twist actuator (J3) 2320. [0276] In FIGS.44-45, a fourth embodiment of an upper portion of the robot 3001 is shown. In this embodiment, the arm actuator (J1) extends with the primary axis parallel to the transverse plane, and the singularity cone shown surrounding the primary axis of the arm actuator (J1). The schematic diagram shows the kinematic chain and arrangement of arm actuator (J1) 3190, shoulder actuator (J2) 3280, and upper arm twist actuator (J3) 3320. In this arrangement, the shoulder actuator (J2) 3280 is perpendicular to the arm actuator (J1) 3190 and upper arm twist actuator (J3) 3320, where it is possible for the axis of the arm actuator (J1) 3190 and upper arm twist actuator (J3) 3320 to be colinear, causing a singularity. [0277] In FIGS. 46-47, a fifth embodiment of an upper portion of the robot 4001 is shown. In this embodiment, the arm actuator (J1) is positioned the primary axis parallel to the sagittal plane, and the singularity cones shown surrounding the primary axis of the arm actuator (J1). The schematic diagram shows the kinematic chain and arrangement of arm actuator (J1) 4190, shoulder actuator (J2) 4280, and upper arm twist actuator (J3) 4320. The axes of each of the arm actuator (J1) 4190, shoulder actuator (J2) 4280, and upper arm twist actuator (J3) 4320 are perpendicular to each other. b. Alternative Embodiments - Central and Lower Portions [0278] As shown in FIGS. 79-83, a second embodiment of robot 1001 is adapted for an alternative arrangement of actuators J11-J16. In this embodiment, an axis of the hip flex actuator J12 actuator is parallel (e.g., not angled) with the horizontal or transverse plane PT. Similarly, FIGS. 84-88 show alternative kinematic chains for the third through seventh embodiments of robot 2001, 3001, 4001, 5001 to replace the leg arrangement shown in FIGS. 79-80. Any of a variety of alternative configurations of robots are possible and considered with the scope of the present disclosure. [0279] FIGS. 81-83 illustrate views of the second embodiment of a humanoid robot 1001. In this embodiment, the hip roll actuators J12ʹ of the humanoid robot 1001 lie in a horizontal plane, in comparison to the robot of FIGS.51- 52 having angled-down axes of hip roll actuators J12. FIG. 81 illustrates a side view of the torso, shoulders, head, hips, and left leg of an embodiment of a humanoid robot. FIG. 82 illustrates a side front perspective view of the hip and left leg, and FIG. 83 illustrates a side rear perspective view of the hip and left leg. The actuators of the robot can be concealed with covers that can prevent objects from interfering with the operation of the actuators. Adjacent covers can have movement seams that can allow the rotational actuators to move without exposing any of the internal components. [0280] Focusing on the left side components shown in the figures, the hip pitch actuator J11ʹ can be coupled to a left side of the hip frame, the hip roll actuator J12 can be coupled behind the hip pitch actuator J11 with the hip roll actuator at a 90 degree horizontal angle relative to the hip pitch actuator. The rotational axis of the leg yaw actuator J13 can be 90 degrees from the rotational axis of the hip pitch actuator J11. In contrast, in the above described robot of FIG.51, the hip assembly can have the hip roll actuators J12 angled downward from horizontal by about 18 degrees or angled down at an angle between about 12 degrees and about 22 degrees. Thus, the normal rotational angle of the hip roll actuators J12 can be about 72 degrees or between about 68 degrees to about 78 degrees from vertical. As noted above, the downward angling of the hip roll actuators J12 can be beneficial to the performance of the robot and can allow the robot torso to be moved lower, which can allow the robot to pick up packages from the ground. This angled or lower position of the hip roll actuators J12 can also allow the legs to move further in flexion rearward. [0281] When in a squatting position with both feet on the ground, the hip pitch actuators J11 can rotate at least about 160 degrees forward and upward so the leg moves from a vertical orientation extending straight down from the torso to a position extending upward where the angle between the center axis of the upper leg and the spine of the torso can be about 20 degrees or less. When the upper leg moves close to the torso housing, the hip roll actuators J12 can move the legs outward at an angle of at least about 20 degrees or more from a vertical plane extending through a left side/right side center line of the torso. [0282] FIGS.79-80 illustrate the second embodiment of a humanoid robot 1001 having a hip assembly that includes a hip frame coupled to left and right X-axis (roll), Y-axis (pitch), and Z-axis (yaw) rotational hip actuators. In the illustrated embodiment, Y-axis hip actuators can be coupled to the left and right sides of the hip frame, X-axis hip actuators can be coupled to a lower back portion of the Y-axis hip actuators. The Z-axis hip actuators can be coupled between the X-axis hip actuators and the upper thigh portions of the legs. Thus, the hips can move in 3 degrees of freedom. Because the Z-axis hip actuators can be coupled to the upper thigh portions of the legs, the legs can have a greater range of motion. In contrast, the robot can only require X-axis and Z-axis spine actuators for 2 degrees of freedom because the Y-axis hip actuators can perform the function of the missing Y-axis spine actuator. The omission of the Y-axis spine actuator can reduce the weight of the robot by 1–2 kilograms in some embodiments. This configuration can allow the torso volume to be much larger so that more electrical equipment can be placed in the torso housing. The larger torso volume can allow more batteries to be carried by the robot, which can allow the robot to run longer before the batteries need to be recharged. The additional batteries can allow more electrical current to be applied to the robot actuators, which can result in more actuator output force and a stronger robot. [0283] The hip assembly can have a hip frame, a right hip portion, a left hip portion, and a spine portion. The right hip portion can include actuators coupled to the right side of the hip frame and the left hip portion can include actuators coupled to the left side of the hip frame. The right hip and left hip portions can also each have a hip roll (X-axis) actuator J12, a hip pitch (Y-axis) actuator J11, and a hip yaw (Z-axis) actuator J13. The hip roll actuators J12 can be coupled between the hip frame and the hip roll actuators J11. The hip yaw actuators J13 can be coupled to the bottoms or distal portions of the hip roll actuators J12. [0284] The movements of the robot legs in space can depend on if the leg is in contact with the ground and supporting the weight of the robot or if the leg is not in contact with the ground and the leg is free to move. When the leg is not supporting the robot weight, actuation of the connected X-axis hip roll actuator J12 can cause the robot leg to move in abduction and adduction. If the leg is supporting the robot’s weight, actuation of the connected X-axis hip roll actuator J12 can cause the robot’s torso to move in lateral flexion. [0285] FIG.79 illustrates a front view and FIG. 80 illustrates a perspective rear view of the second embodiment of a robot 1001. FIG. 79 illustrates the Y-axis hip pitch actuators J11 on the left and right sides of the hip frame, the Z-axis hip actuators J13 below the left and right sides of the hip frame, and the Z-axis spine twist actuator J10 above the center portion of the spine frame. FIG. 80 illustrates the X-axis hip roll actuators J12 behind the Y-axis hip pitch actuators J11 and the Z-axis hip yaw actuators J13 below the X-axis and Y-axis hip actuators J12, J11. FIG.80 also illustrates the X-axis spine roll actuator J9 behind the Z-axis spine twist actuator J10. The axis of rotation of the Z-axis spine twist actuator J10 can be parallel to an axial vertical centerline of the robot and in a center vertical plane that divides the left and right portions of the robot. A horizontal plane can be perpendicular to the axial vertical centerline of the robot and parallel with a flat ground surface that the robot can stand on. [0286] In this embodiment, the left hip pitch Y-axis actuator J11 can move the left leg back and the left hip roll X-axis actuator J12 can roll the torso relative to the left leg to balance the load of the robot over the left foot. The right hip pitch Y-axis actuator J11 can move the right leg forward which is shown bent at the right knee. This described hip assembly motion can be part of a walking or running movement. Additionally, the X-axis right hip roll actuator J12 can be actuated to rotate the torso to the right to align the weight of the robot over the right foot when the right leg is vertical. The Z-axis right hip yaw actuator J13 can also rotate the right thigh portion of the right leg to control the right foot orientation. The left knee can be bent and the X-axis left hip roll actuator J12 can be actuated to move the left knee outward. When the right leg is nearly vertical and the left leg is bent at the knee, and the lower leg and foot are angled outward, the left hip pitch Y-axis actuator J11 rotates the upper leg up to about 90 degrees. The left hip yaw Z-axis actuator J13 is moved to a horizontal orientation and the left hip yaw Z-axis actuator J13 is actuated to move the lower leg outward. [0287] FIGS. 84-87 illustrate schematic representations of various configurations of rotational actuators in a robot hip joint assembly for alternative embodiment robot 2001, 3001, 4001, 5001, respectively. The configuration of the rotational actuators in the hip joint assemblies in the above-described robots can result in better performance than other rotational actuator configurations. As discussed, the above-described embodiments of the hip assembly rotation actuators can include a Y-axis hip pitch actuator J11, an X-axis hip roll actuator, and a Z-axis hip yaw actuator to provide the range of motion for the leg. In the alternative embodiments, the variations in positions of the three hip actuators are shown as kinematic chains in the figures. In the embodiments, the function of each actuator is based on the axial orientation and the relative location in the kinematic chain. Table 6 identifies the function and/or orientation of the alternative rotational axis compared to the first embodiment of robot 1. The alternative configurations of rotational actuators in the hip assembly can include: Table 6 Hip Joint y Robo Robot 2001 Robot 3001 Robot 4001 Robot 5001 Assembl t 1 (FIG.84) (FIG.85) (FIG.86) (FIG.87) Upper Y-axis Pitch Y-axis Pitch X-axis Roll Z-axis Yaw X-axis Roll Actuator (J11) 2720 3720 4720 5720 Middle X-axis Roll X-axis Roll Y-axis Pitch X-axis Roll Z-axis Yaw Actuator (J12) 2768 3768 4768 5768 Lower Z-axis Yaw Z-axis Yaw Z-axis Yaw Y-axis Pitch Y-axis Pitch Actuator (J13) 2782 3782 4782 5782 [0288] Table 6 shows the actuator configurations of different hip joint assemblies for third through seventh alternative embodiments of robot 2001, 3001, 4001, 5001, each of which have a different configuration of upper, middle, and lower rotational actuators. The singularity problems of these configurations that can result in movement limitations of the robot legs are discussed below. [0289] The third embodiment of robot 2001 is shown in FIG. 84 and illustrates a hip assembly having an upper Y-axis hip pitch actuator 2720, a middle X-axis hip roll actuator 2768, and a lower Z-axis hip yaw actuator 2782. In this embodiment, the actuators are in a similar arrangement as robot 1, however, the Y-axis hip pitch actuator 2720 and middle X-axis hip roll actuator 2768 are angled to improve the range of motion. The upper Y-axis hip pitch actuator 2720 can be arranged at a downward angle with respect to the transverse plane PT, for example, an angle of about 11 degrees. The middle X-axis hip roll actuator 2768 can be also angled with respect to the transverse plane PT and the Z-axis hip yaw actuator 2782 substantially perpendicular to the transverse plane PT. [0290] The fourth embodiment of robot 3001 is shown in FIG. 85 and illustrates a hip assembly that includes a Z-axis of rotation hip yaw actuator 3720 above an X-axis of rotation hip roll actuator 3768, above a Y-axis of rotation hip pitch actuator 3782. When the leg is vertical, rotation of the hip yaw actuator twists the foot, rotation of the hip roll actuator moves the foot sideways, and rotation of the hip pitch actuator moves the foot back and forth. The joints can intersect but the vertical order of the x, y, and z axis of rotation actuators can be important for improved performance. [0291] FIG.85 illustrates the leg in a straight down position. If the Y-axis pitch hip actuator is bent to raise the thigh portion of the leg and the Y-axis pitch knee actuator bent to keep the foot parallel with the ground, the foot can be moved up and forward. Movement of the X-axis hip roll actuator can move the leg and foot sideways. The Y-axis pitch ankle actuator can be bent to keep the X-axis roll ankle actuator axis of rotation parallel to the ground. The X-axis roll ankle actuator can also be bent to keep the foot parallel with the ground. In this configuration, the foot does not twist. [0292] The illustrated and described embodiments of humanoid robots can have various unique structural configurations that can provide benefits over known humanoid robots. For example, a joint of a robot can have three rotational actuators that can allow the connected limb to move in 3 degrees of freedom. The alignment of the X, Y, and Z axis rotational actuators can be angularly offset to be perpendicular to each other or configured to be 90 degrees from each other. A problem with a joint assembly formed from X, Y, and Z axis rotational actuators can be that the joint assembly can move into a configuration where the axes of rotation of two of the actuators are parallel or nearly parallel (e.g., can be within a cone of singularity that is about 30 to about 45 degrees from parallel). When two axes of rotation are nearly parallel, a “singularity” configuration occurs which can limit and/or complicate the joint movements. The required angular offset or adjustment to avoid singularity (e.g., possibly about 30 to about 45 degrees) can be graphically represented as a “cone of singularity”. [0293] Singularity can occur when the axis of rotation of multiple rotational actuators are aligned and/or parallel. In order to allow robot limbs to move freely, the normal range of movement of the limbs can be analyzed to determine if any of the normal robot limb movements might enter a cone of singularity and have a singularity movement problem. If normal robot limb movement has a singularity problem, the position of one or more of the joint rotational actuators in a joint assembly design can be adjusted to prevent the axes of rotation from entering any cone of singularity of the other connected rotational actuators in the joint assembly. [0294] However, it is possible to move the hip assembly of robot 3001 (FIG. 85) into a singularity configuration. For example, the hip roll actuator can rotate the lower leg and foot in roll 90 degrees, which causes the lower leg to rotate into a horizontal position. In this rolled position, the Y-axis pitch actuator has moved to a position that is aligned vertically to be parallel or near parallel to the vertical Z-axis yaw actuator. In this singularity position, none of the actuators can twist in rotation. Ideally, the leg should not be moved in X-axis roll rotation to cause the Y-axis pitch actuator to be moved to a position that is within about 30 degrees to about 45 degrees of vertical to be near parallel to the vertical Z-axis yaw actuator. As noted above in connection with the embodiment of FIG.51, one way to avoid this issue is to limit the amount of X-axis roll rotation to avoid the singularity configuration (e.g., provide only up to about 45 degrees of roll rotation). [0295] As also discussed above, in some embodiments the X-axis hip roll actuators J12 can be angled downward from horizontal between about 12 degrees and about 22 degrees. This adjustment to the hip joint assembly can be done to prevent the axes from entering a cone of singularity. Using joint assemblies with these adjustments, robot limbs can have unhindered movement, range of motion, and performance. [0296] The sixth embodiment of robot 5001 is shown in FIG. 87 and illustrates a hip joint assembly having an upper X-axis roll actuator, a middle Z-axis yaw actuator, and a lower Y- axis pitch actuator. FIG. 87 also illustrates a diagram showing up, right, and front directions for the leg. FIG. 87 shows the hip assembly rotating the leg 90 degrees in Z-axis yaw which rotates the lower Y-axis pitch actuator into a parallel orientation to the X-axis roll actuator, which is a singularity configuration. The robot 5001 can encounter a problem because when the foot is rotated in the above-described manner, the leg cannot be moved forward to backward in pitch for a walking movement. 10. Industrial Application [0297] While the disclosure shows illustrative embodiments of a robot (in particular, a humanoid robot), it should be understood that embodiments are designed to be examples of the principles of the disclosed assemblies, methods and systems, and are not intended to limit the broad aspects of the disclosed concepts to the embodiments illustrated. As will be realized, the disclosed robot, and its functionality and methods of operation, are capable of other and different configurations and several details are capable of being modified all without departing from the scope of the disclosed methods and systems. For example, one or more of the disclosed embodiments, in part or whole, may be combined with a disclosed assembly, method and system. As such, one or more steps from the diagrams or components in the Figures may be selectively omitted and/or combined consistent with the disclosed assemblies, methods and systems. Additionally, one or more steps from the arrangement of components may be omitted or performed in a different order. Accordingly, the drawings, diagrams, and detailed description are to be regarded as illustrative in nature, not restrictive or limiting, of said humanoid robot. [0298] While the above-described methods and systems are designed for use with a general- purpose humanoid robot, it should be understood that the assemblies, components, learning capabilities, and/or kinematic capabilities may be used with other robots. Examples of other robots include: articulated robot (e.g., an arm having two, six, or ten degrees of freedom, etc.), a cartesian robot (e.g., rectilinear or gantry robots, robots having three prismatic joints, etc.), Selective Compliance Assembly Robot Arm (SCARA) robots (e.g., with a donut shaped work envelope, with two parallel joints that provide compliance in one selected plane, with rotary shafts positioned vertically, with an end effector attached to an arm, etc.), delta robots (e.g., parallel link robots with parallel joint linkages connected with a common base, having direct control of each joint over the end effector, which may be used for pick-and-place or product transfer applications, etc.), polar robots (e.g., with a twisting joint connecting the arm with the base and a combination of two rotary joints and one linear joint connecting the links, having a centrally pivoting shaft and an extendable rotating arm, spherical robots, etc.), cylindrical robots (e.g., with at least one rotary joint at the base and at least one prismatic joint connecting the links, with a pivoting shaft and extendable arm that moves vertically and by sliding, with a cylindrical configuration that offers vertical and horizontal linear movement along with rotary movement about the vertical axis, etc.), self-driving car, a kitchen appliance, construction equipment, or a variety of other types of robot systems. The robot system may include one or more sensors (e.g., cameras, temperature, pressure, force, inductive or capacitive touch), motors (e.g., servo motors and stepper motors), actuators, biasing members, encoders, housing, or any other component known in the art that is used in connection with robot systems. Likewise, the robot system may omit one or more sensors (e.g., cameras, temperature, pressure, force, inductive or capacitive touch), motors (e.g., servo motors and stepper motors), actuators, biasing members, encoders, housing, or any other component known in the art that is used in connection with robot systems. [0299] In other embodiments, other configurations and/or components may be utilized. As is known in the data processing and communications arts, a general-purpose computer typically comprises a central processor or other processing device, an internal communication bus, various types of memory or storage media (RAM, ROM, EEPROM, cache memory, disk drives etc.) for code and data storage, and one or more network interface cards or ports for communication purposes. The software functionalities involve programming, including executable code as well as associated stored data. The software code is executable by the general-purpose computer. In operation, the code is stored within the general-purpose computer platform. At other times, however, the software may be stored at other locations and/or transported for loading into the appropriate general-purpose computer system. [0300] A server, for example, includes a data communication interface for packet data communication. The server also includes a central processing unit (CPU), in the form of one or more processors, for executing program instructions. The server platform typically includes an internal communication bus, program storage and data storage for various data files to be processed and/or communicated by the server, although the server often receives programming and data via network communications. The hardware elements, operating systems and programming languages of such servers are conventional in nature, and it is presumed that those skilled in the art are adequately familiar therewith. The server functions may be implemented in a distributed fashion on a number of similar platforms, to distribute the processing load. [0301] Hence, aspects of the disclosed methods and systems outlined above may be embodied in programming. Program aspects of the technology may be thought of as “products” or “articles of manufacture” typically in the form of executable code and/or associated data that is carried on or embodied in a type of machine-readable medium. “Storage” type media includes any or all of the tangible memory of the computers, processors or the like, or associated modules thereof, such as various semiconductor memories, tape drives, disk drives and the like, which may provide non-transitory storage at any time for the software programming. All or portions of the software may at times be communicated through the Internet or various other telecommunication networks. Thus, another type of media that may bear the software elements includes optical, electrical and electromagnetic waves, such as used across physical interfaces between local devices, through wired and optical landline networks and over various air-links. The physical elements that carry such waves, such as wired or wireless links, optical links or the like, also may be considered as media bearing the software. As used herein, unless restricted to non-transitory, tangible “storage” media, terms such as computer or machine “readable medium” refer to any medium that participates in providing instructions to a processor for execution. [0302] A machine-readable medium may take many forms, including but not limited to, a tangible storage medium, a carrier wave medium or physical transmission medium. Non- volatile storage media include, for example, optical or magnetic disks, such as any of the storage devices in any computer(s) or the like, such as may be used to implement the disclosed methods and systems. Volatile storage media include dynamic memory, such as the main memory of such a computer platform. Tangible transmission media include coaxial cables, copper wire and fiber optics, including the wires that comprise a bus within a computer system. Carrier-wave transmission media can take the form of electric or electromagnetic signals, or acoustic or light waves such as those generated during radio frequency (RF) and infrared (IR) data communications. Common forms of computer-readable media therefore include for example: a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD or DVD-ROM, any other optical medium, punch cards, paper tape, any other physical storage medium with patterns of holes, a RAM, a PROM and EPROM, a FLASH- EPROM, any other memory chip or cartridge, a carrier wave transporting data or instructions, cables or links transporting such a carrier wave, or any other medium from which a computer can read programming code and/or data. Many of these forms of computer readable media may be involved in carrying one or more sequences of one or more instructions to a processor for execution. [0303] It is to be understood that the invention is not limited to the exact details of construction, operation, exact materials or embodiments shown and described, as obvious modifications and equivalents will be apparent to one skilled in the art. While the specific embodiments have been illustrated and described, numerous modifications come to mind without significantly departing from the spirit of the invention, and the scope of protection is only limited by the scope of the accompanying Claims. In the drawings, some structural or method features may be shown in specific arrangements and/or orderings. However, it should be appreciated that such specific arrangements and/or orderings may not be required. Rather, in some embodiments, such features may be arranged in a different manner and/or order than shown in the illustrative figures. Additionally, the inclusion of a structural or method feature in a particular figure is not meant to imply that such feature is required in all embodiments and, in some embodiments, may not be included or may be combined with other features. [0304] It should also be understood that substantially utilized herein means a deviation less than 15% and preferably less than 5%. It should also be understood that other configuration or arrangements of the above-described components is contemplated by this Application. Moreover, the description provided in the background section should not be assumed to be prior art merely because it is mentioned in or associated with the background section. The background section may include information that describes one or more aspects of the subject of the technology. Finally, the mere fact that something is described as conventional does not mean that the Applicant admits it is prior art. [0305] In this Application, to the extent any U.S. patents, U.S. patent applications, or other materials (e.g., articles) have been incorporated by reference, the text of such materials is only incorporated by reference to the extent that they do not conflict with materials, statements and drawings set forth herein. In the event of such conflict, the text of the present document controls, and terms in this document should not be given a narrower reading in virtue of the way in which those terms are used in other materials incorporated by reference. It should also be understood that structures and/or features not directly associated with a robot cannot be adopted or implemented into the disclosed humanoid robot without careful analysis and verification of the complex realities of designing, testing, manufacturing, and certifying a robot for completion of usable work nearby and/or around humans. Theoretical designs that attempt to implement such modifications from non-robotic structures and/or features are insufficient (and in some instances, woefully insufficient) because they amount to mere design exercises that are not tethered to the complex realities of successfully designing, manufacturing and testing a robot.

Claims

CLAIMS 1. A humanoid robot having a coronal plane, the humanoid robot comprising: a torso having a torso structure and an external surface; a left arm actuator coupled to the torso structure, wherein a majority of the left arm actuator is positioned within the external surface of the torso, and wherein when the humanoid robot is in a neutral position: an actuator bearing having a center that is positioned rearward of the coronal plane, and an arm axis that extends through the center of the actuator bearing, wherein the arm axis is angled relative to the coronal plane; a head and neck assembly coupled to the torso and including at least one actuator; a left arm coupled to the left arm actuator and including a left shoulder actuator having a shoulder axis, wherein the shoulder axis is not perpendicular to the arm axis in all planes; and an end effector coupled to the left arm and having at least three degrees of freedom.
2. The humanoid robot of claim 1, wherein the humanoid robot further includes a torso twist actuator that is configured to allow the torso to twist around a torso twist axis, when the torso twist axis is coplanar with the coronal plane when the humanoid robot is in the neutral position.
3. The humanoid robot of claim 2, wherein the torso twist actuator has a range of motion that is less than 215 degrees.
4. The humanoid robot of claim 2, wherein the humanoid robot further includes a torso lean actuator: (i) having a torso lean axis that is angled relative to the torso twist axis, (ii) is coupled to the torso twist actuator, and (iii) is positioned rearward of the torso twist actuator.
5. The humanoid robot of claim 4, wherein the torso lean actuator has a range of motion that is less than 70 degrees.
6. The humanoid robot of claim 4, wherein the interior angle between the torso lean axis and the torso twist axis is greater than 45 degrees and less than 135 degrees.
7. The humanoid robot of any of claims 1-6, wherein the left arm includes: (i) an upper arm twist actuator with an upper arm twist axis, (ii) an elbow actuator with an elbow axis that is substantially perpendicular to the upper arm twist axis, and (iii) a lower arm twist actuator with a lower arm twist axis that is both colinear with the upper arm twist axis and is perpendicular with the elbow axis.
8. The humanoid robot of claim 7, wherein the upper arm twist actuator has a range of motion that is more than 250 degrees.
9. The humanoid robot of claim 7, wherein the elbow actuator has a range of motion that is more than 150 degrees.
10. The humanoid robot of claim 7, wherein the lower arm twist actuator has a range of motion that is more than 300 degrees.
11. The humanoid robot of any of claims 1-10, wherein the left arm includes a wrist flex actuator with a wrist flex axis and a wrist pitch actuator with a wrist pitch axis, wherein both actuators are of the same actuator type, and the axes are angled relative to one another.
12. The humanoid robot of any of claims 1-10, wherein the humanoid robot includes: (i) a total number of degrees of freedom, (ii) a knee actuator, (iii) an upper portion positioned above the torso twist actuator and including at least 70% of the total degrees of freedom, and (iv) a lower portion positioned below the knee actuator and including less than 10% of the total degrees of freedom.
13. The humanoid robot of claim 12, wherein the knee actuator includes a knee axis that is coplanar with the coronal plane.
14. The humanoid robot of claim 12, wherein the knee actuator has a range of motion that is more than 150 degrees.
15. The humanoid robot of any of claims 1-10, wherein the humanoid robot includes less than 10 different actuator types.
16. The humanoid robot of claim 13, wherein the actuator types are identified based on their torque rating.
17. A humanoid robot having at least a total of 30 of degrees of freedom, the humanoid robot comprising: a torso; an arm actuator coupled to the torso and having an arm axis; a torso twist actuator coupled to the torso and configured to allow the torso to twist around a torso twist axis; a knee actuator with a knee axis, wherein when the humanoid robot is in a neutral position: (i) the torso twist axis and the knee axis reside in the same plane, and (ii) the arm axis is angularly offset from said plane; an upper portion of the humanoid robot is positioned above the torso twist axis and including at least 70% of the total degrees of freedom; and a lower portion of the humanoid robot is positioned below the knee axis and including less than 10% of the total degrees of freedom.
18. The humanoid robot of claim 17, wherein the arm actuator includes an actuator bearing having a center that is positioned rearward of a coronal plane of the humanoid robot when the humanoid robot is in the neutral position.
19. The humanoid robot of claim 18, wherein the arm axis extends through the center of the actuator bearing and is angled relative to the coronal plane.
20. The humanoid robot of claim 17, further comprising a left arm coupled to the arm actuator and including a left shoulder actuator having a shoulder axis, wherein the shoulder axis is not perpendicular to the arm axis in all planes.
21. The humanoid robot of claim 20, wherein the left arm further includes: (i) an upper arm twist actuator with an upper arm twist axis, (ii) an elbow actuator with an elbow axis that is substantially perpendicular to the upper arm twist axis, and (iii) a lower arm twist actuator with a lower arm twist axis that is both colinear with the upper arm twist axis and is perpendicular with the elbow axis.
22. The humanoid robot of claim 21, wherein the upper arm twist actuator has a range of motion that is more than 250 degrees, the elbow actuator has a range of motion that is more than 150 degrees, and the lower arm twist actuator has a range of motion that is more than 300 degrees.
23. The humanoid robot of claim 17, further comprising a torso lean actuator coupled to the torso twist actuator and having a torso lean axis angled relative to the torso twist axis.
24. The humanoid robot of claim 17, further comprising an end effector coupled to a left arm and having at least three degrees of freedom.
25. The humanoid robot of any of claims 17-24, wherein the humanoid robot includes less than 10 different actuator types, and wherein each actuator type corresponds to a different momentary peak torque rating.
26. A humanoid robot, comprising: a torso; a left arm actuator coupled to the torso and having an arm axis; a torso twist actuator coupled to the torso and having a torso twist axis that is not perpendicular to the arm axis in all 3D planes; a torso lean actuator coupled to the torso twist actuator and having a torso lean axis oriented at an angle relative to the torso twist axis; and a left arm coupled to the left arm actuator and including: (i) an upper arm twist actuator with an upper arm twist axis, (ii) an elbow actuator with an elbow axis oriented substantially perpendicular to the upper arm twist axis, and (iii) a lower arm twist actuator with a lower arm twist axis that is arranged both colinear with the upper arm twist axis and perpendicular to the elbow axis.
27. The humanoid robot of claim 26, wherein the torso twist actuator is configured to allow the torso to twist around a torso twist axis, when the torso twist axis is coplanar with a coronal plane of the humanoid robot when the humanoid robot is in a neutral position.
28. The humanoid robot of claim 26, wherein the torso lean actuator has a torso lean axis that is angled relative to the torso twist axis, is coupled to the torso twist actuator, and is positioned rearward of the torso twist actuator.
29. The humanoid robot of claim 26, wherein the left arm further includes a wrist flex actuator with a wrist flex axis and a wrist pitch actuator with a wrist pitch axis, wherein both actuators are of the same actuator type, and the axes are angled relative to one another.
30. The humanoid robot of claim 26, wherein the humanoid robot includes: (i) a total number of degrees of freedom, (ii) a knee actuator, (iii) an upper portion positioned above the torso twist actuator and including at least 70% of the total degrees of freedom, and (iv) a lower portion positioned below the knee actuator and including less than 10% of the total degrees of freedom.
31. The humanoid robot of claim 30, wherein the knee actuator includes a knee axis that is coplanar with a coronal plane of the humanoid robot.
32. The humanoid robot of claim 26, wherein the humanoid robot includes less than 10 different actuator types, wherein the actuator types are identified based on their torque rating.
33. The humanoid robot of any of claims 26-32, wherein the left arm actuator includes an actuator bearing having a center that is positioned rearward of a coronal plane of the humanoid robot when the humanoid robot is in a neutral position, and wherein the arm axis extends through the center of the actuator bearing and is angled relative to the coronal plane.
34. A humanoid robot, comprising: a torso coupled to an arm and a pelvis; a hip assembly coupled to the pelvis and including: a hip flex actuator with a hip flex axis, a hip pivot actuator coupled to the hip flex actuator and including a hip pivot axis, and wherein the hip flex axis is oriented at an angle relative to the hip flex axis, and a leg twist actuator: (i) coupled to the hip pivot actuator, (ii) positioned below an extent of both of the hip flex actuator and hip pivot actuator, and (iii) includes a leg twist axis that is arranged coplanar with the hip flex axis.
35. The humanoid robot of claim 34, wherein the torso includes a torso structure and an external surface, and wherein the left arm actuator is: (i) coupled to the torso structure, (ii) configured to have a majority of said left arm actuator positioned within the external surface of the torso, and (iii) includes an actuator bearing having a center that is positioned rearward of a coronal plane of the humanoid robot when the humanoid robot is in a neutral position.
36. The humanoid robot of claim 35, wherein the left arm actuator further includes an arm axis that extends through the center of the actuator bearing and is angled relative to the sagittal plane.
37. The humanoid robot of claim 34, wherein the torso lean actuator: (i) has a torso lean axis that is angled relative to the torso twist axis, (ii) is coupled to the torso twist actuator, and (iii) is positioned rearward of the torso twist actuator.
38. The humanoid robot of claim 34, wherein the arm includes: (i) an upper arm twist actuator with an upper arm twist axis, (ii) an elbow actuator with an elbow axis that is substantially perpendicular to the upper arm twist axis, and (iii) a lower arm twist actuator with a lower arm twist axis that is both colinear with the upper arm twist axis and is perpendicular with the elbow axis.
39. The humanoid robot of claim 34, wherein the arm includes a wrist flex actuator with a wrist flex axis and a wrist pitch actuator with a wrist pitch axis, wherein both actuators are of the same actuator type, and the axes are angled relative to one another.
40. The humanoid robot of any of claims 34-39, wherein the humanoid robot includes: (i) a total number of degrees of freedom, (ii) a knee actuator, (iii) an upper portion positioned above the torso twist actuator and including at least 70% of the total degrees of freedom, and (iv) a lower portion positioned below the knee actuator and including less than 10% of the total degrees of freedom.
41. The humanoid robot of claim 34, wherein the humanoid robot includes less than 10 different actuator types, and wherein the actuator types are identified based on the inclusion of difference components.
42. The humanoid robot of claim 34, wherein the arm actuator includes an actuator bearing having a center that is positioned rearward of a coronal plane of the humanoid robot when the humanoid robot is in a neutral position.
43. The humanoid robot of claim 42, wherein the arm axis extends through the center of the actuator bearing and is angled relative to the coronal plane.
44. A humanoid robot, comprising: a torso; a left arm and a right arm, and wherein both arms are coupled to the torso; a hip assembly coupled to the torso; a left leg and a right leg, wherein both legs are coupled to the hip assembly; a left foot coupled to the left leg; a right foot coupled to the right leg; and wherein the humanoid robot includes at least 30 actuators associated with the torso, left and right arms, left and right hips, left and right legs, and left and right feet; and wherein said at least 30 actuators include less than 10 different actuator types, and wherein each actuator type provides a different momentary peak torque output rating.
45. The humanoid robot of claim 44, wherein the torso includes a torso structure and an external surface, and wherein at least one of the left arm actuator or right arm actuator is: (i) coupled to the torso structure, (ii) configured to have a majority of said actuator positioned within the external surface of the torso, and (iii) includes an actuator bearing having a center that is positioned rearward of the coronal plane when the humanoid robot is in a neutral position.
46. The humanoid robot of claim 45, wherein the at least one of the left arm actuator or right arm actuator further includes an arm axis that extends through the center of the actuator bearing and is angled relative to the coronal plane.
47. The humanoid robot of claim 44, wherein the torso includes a torso twist actuator that is configured to allow the torso to twist around a torso twist axis, when the torso twist axis is coplanar with the coronal plane when the humanoid robot is in the neutral position.
48. The humanoid robot of claim 47, wherein the torso further includes a torso lean actuator: (i) having a torso lean axis that is angled relative to the torso twist axis, (ii) is coupled to the torso twist actuator, and (iii) is positioned rearward of the torso twist actuator.
49. The humanoid robot of claim 44, wherein at least one of the left arm or right arm includes: (i) an upper arm twist actuator with an upper arm twist axis, (ii) an elbow actuator with an elbow axis that is substantially perpendicular to the upper arm twist axis, and (iii) a lower arm twist actuator with a lower arm twist axis that is both colinear with the upper arm twist axis and is perpendicular with the elbow axis.
50. The humanoid robot of claim 44, wherein at least one of the left arm or right arm includes a wrist flex actuator with a wrist flex axis and a wrist pitch actuator with a wrist pitch axis, wherein both actuators are of the same actuator type, and the axes are angled relative to one another.
51. The humanoid robot of claim 44, wherein the humanoid robot includes: (i) a total number of degrees of freedom, (ii) a knee actuator in at least one of the left leg or right leg, (iii) an upper portion positioned above a torso twist actuator and including at least 70% of the total degrees of freedom, and (iv) a lower portion positioned below the knee actuator and including less than 10% of the total degrees of freedom.
52. The humanoid robot of any of claims 44-51, wherein at least one of the left arm or right arm is coupled to a respective arm actuator and includes a shoulder actuator having a shoulder axis, wherein the shoulder axis is not perpendicular to an arm axis of the respective arm actuator in all planes.
53. The humanoid robot of claim 44 or claim 52, wherein at least one of the left arm or right arm further includes: (i) an upper arm twist actuator with an upper arm twist axis, (ii) an elbow actuator with an elbow axis that is substantially perpendicular to the upper arm twist axis, and (iii) a lower arm twist actuator with a lower arm twist axis that is both colinear with the upper arm twist axis and is perpendicular with the elbow axis.
54. A humanoid robot, comprising: a torso; a left arm actuator coupled to the torso and having an arm axis oriented at an angle relative to a coronal plane that extends through the humanoid robot, when the humanoid robot is in a neutral position; a torso twist actuator coupled to the torso and configured to allow the torso to move about a torso twist axis, and wherein said torso twist axis is arranged coplanar with the coronal plane, when the humanoid robot is in a neutral position; and a torso lean actuator: (i) coupled to the torso twist actuator, and (ii) having a torso lean axis that is oriented at an angle relative to both the torso twist axis and a transverse plane that extends through the humanoid robot, when the humanoid robot is in the neutral position.
55. The humanoid robot of claim 54, wherein the torso includes a torso structure and an external surface, and wherein the left arm actuator is: (i) coupled to the torso structure, (ii) configured to have a majority of said left arm actuator positioned within the external surface of the torso, and (iii) includes an actuator bearing having a center that is positioned rearward of the coronal plane when the humanoid robot is in the neutral position.
56. The humanoid robot of claim 55, wherein the arm axis extends through the center of the actuator bearing and is angled relative to the coronal plane.
57. The humanoid robot of claim 54, further comprising a left arm coupled to the left arm actuator and including: (i) an upper arm twist actuator with an upper arm twist axis, (ii) an elbow actuator with an elbow axis that is substantially perpendicular to the upper arm twist axis, and (iii) a lower arm twist actuator with a lower arm twist axis that is both colinear with the upper arm twist axis and is perpendicular with the elbow axis.
58. The humanoid robot of claim 54, wherein the left arm includes a wrist flex actuator with a wrist flex axis and a wrist pitch actuator with a wrist pitch axis, wherein both actuators are of the same actuator type, and the axes are angled relative to one another.
59. The humanoid robot of claim 54, further comprising: (i) a total number of degrees of freedom, (ii) a knee actuator, (iii) an upper portion positioned above the torso twist actuator and including at least 70% of the total degrees of freedom, and (iv) a lower portion positioned below the knee actuator and including less than 10% of the total degrees of freedom.
60. The humanoid robot of any of claims 54-59, wherein the humanoid robot includes less than 10 different actuator types.
61. The humanoid robot of claim 60, wherein the actuator types are identified based on their torque rating.
62. The humanoid robot of claim 60, wherein the hip pivot actuator is not directly connected to the pelvis.
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